Amr Morssy


This thesis will present SLAM in the current literature to benefit from then it will present the investigation results for a hybrid approach used where different algorithms using laser, sonar, and camera sensors were tested and compared. The contribution of this thesis is the development of a hybrid approach for SLAM that uses different sensors and where different factors are taken into consideration such as dynamic objects, and the development of a scalable grid map model with new sensors models for real time update of the map.The thesis will show the success found, difficulties faced and limitations of the algorithms developed which were simulated and experimentally tested in an indoors environment.


Robotics, Control & Smart Systems Program

Degree Name

MS in Robotics, Control and Smart Systems

Graduation Date


Submission Date

July 2016

First Advisor

Habib, Maki

Committee Member 1

Gaafar, Lotfi

Committee Member 2

Abdennadher, Slim


285 p.

Document Type

Master's Thesis


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Institutional Review Board (IRB) Approval

Not necessary for this item


This work has been supervised by Prof. Dr. Maki Habib