Active SLAM with Prior Topo-metric Graph Starting at Uncertain Position

Author(s):  
Wuyang Xue ◽  
Rendong Ying ◽  
Fei Wen ◽  
Yuanpei Chen ◽  
Peilin Liu
Keyword(s):  
Author(s):  
Keyvan Sasani ◽  
Mohammad Hossein Namaki ◽  
Yinghui Wu ◽  
Assefaw H. Gebremedhin

2019 ◽  
Vol 99 (03) ◽  
pp. 508-520
Author(s):  
BIDYUT SANKI

An embedding of a metric graph $(G,d)$ on a closed hyperbolic surface is essential if each complementary region has a negative Euler characteristic. We show, by construction, that given any metric graph, its metric can be rescaled so that it admits an essential and isometric embedding on a closed hyperbolic surface. The essential genus $g_{e}(G)$ of $(G,d)$ is the lowest genus of a surface on which such an embedding is possible. We establish a formula to compute $g_{e}(G)$ and show that, for every integer $g\geq g_{e}(G)$ , there is an embedding of $(G,d)$ (possibly after a rescaling of $d$ ) on a surface of genus $g$ . Next, we study minimal embeddings where each complementary region has Euler characteristic $-1$ . The maximum essential genus $g_{e}^{\max }(G)$ of $(G,d)$ is the largest genus of a surface on which the graph is minimally embedded. We describe a method for an essential embedding of $(G,d)$ , where $g_{e}(G)$ and $g_{e}^{\max }(G)$ are realised.


2016 ◽  
Vol 14 (1) ◽  
pp. 1-12 ◽  
Author(s):  
Marc Coppens

AbstractFor all integers g ≥ 6 we prove the existence of a metric graph G with $w_4^1 = 1$ such that G has Clifford index 2 and there is no tropical modification G′ of G such that there exists a finite harmonic morphism of degree 2 from G′ to a metric graph of genus 1. Those examples show that not all dimension theorems on the space classifying special linear systems for curves have immediate translation to the theory of divisors on metric graphs.


2020 ◽  
Author(s):  
Irina V. Blinova ◽  
Yana M. Van-Yun-Syan ◽  
Igor Y. Popov

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