Multiple-robot system for decentralized SLAM investigations

Rob H. Deaves; David Nicholson; David W. Gough; Lewis A. Binns; Paul Vangasse; Phil Greenway

doi:10.1117/12.403747

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16 October 2000 Multiple robot system for decentralized SLAM investigations

Rob H. Deaves; David Nicholson; David W. Gough; Lewis A. Binns; Paul Vangasse; Phil Greenway

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Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403747
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

Technical details of laboratory based robotic system for researching decentralized Simultaneous Localization and Map building (SLAM) are provided. The main components of the system are Pioneer (ActivMedia) robots, laboratory environment for mapping, laser tracking system for testing the SLAM accuracy and a suite of SLAM software algorithms. The system is used to provide a demonstration and initial practical results of decentralized multiple-platform SLAM. The paper concludes that useful system has been set-up for researching this technology area. Further, the demonstration highlights important benefits of multiple- platform decentralized SLAM over a single platform approach. These include an increase in map accuracy, an improvement in the completeness and timeliness of the map, and an increase in platform accuracy although that platform was not extrinsically sensed. Future research areas are discussed.

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Rob H. Deaves, David Nicholson, David W. Gough, Lewis A. Binns, Paul Vangasse, and Phil Greenway "Multiple robot system for decentralized SLAM investigations", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403747

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