The present book includes a set of selected papers from the fourth "International Conference on Informatics in Control Automation and Robotics" (ICINCO 2007), held at the University of Angers, France, from 9 to 12 May 2007. The conference was organized in three simultaneous tracks: "Intelligent Control Systems and Optimization," "Robotics and Automation" and "Systems Modeling, Signal Processing and Control." The book is based on the same structure. ICINCO 2007 received 435 paper submissions, from more than 50 different countries in all continents. From these, after a blind review process,...

This monograph covers theoretical aspects of simultaneous localization and map building for mobile robots. These include estimation stability, nonlinear models for the propagation of uncertainties, temporal landmark compatibility, as well as issues pertaining the coupling of control and SLAM. One of the most relevant topics covered in this monograph is the theoretical formalism of partial observability in SLAM.

This monograph introduces a unifying framework for mapping, planning and exploration with mobile robots considering uncertainty, linking such problems with a common SLAM approach, adopting Pose SLAM as the basic state estimation machinery.