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Simultaneous Planning Localization And Mapping (SPLAM) For Unmanned Aerial Vehicles

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Published on Oct 16, 2012

http://www.golems.org/papers/OkICRA20...

Working with 3 PhD students we developed a MATLAB Simulator for UAV navigation with vision uncertainty using SPLAM as well as a novel motion planning algorithm that combines Voronoi decomposition with Potential fields producing a superior motion-planning algorithm.

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