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SLAM - Definitions


Simultaneous Localization and Mapping, right?

As the robot moves through the world, it is collecting scanner information and using various strategies comes up with a gradually improving map of the places it has been (mapping) and where it is located in that map (localization.)

What about navigation? It knows where it is (localization) and some of the map (mapping) and a destination on the map. Does the usual definition of Slam include the algorithms that will find a safe path from where it is to where it wants to go?

I ask to clarify a confusion in my mind. What I’ve seen makes it look like when we get to navigation the map_server is publishing a particular map, and I don’t see provisions for that map to change while we are navigation. I am sure I am missing it, but that’s what I am trying to clarify. Thanks.


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