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

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

Author Affiliations +

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.

Citation Download Citation

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

ACCESS THE FULL ARTICLE

PERSONAL SIGN IN
Full access may be available with your subscription

Email or Username Forgot your username?

Password Forgot your password?

Show

Remember Email/Username on this computer

Remember Password

No SPIE account? Create an account
or Institutional Sign In via Shibboleth

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $14.40

Non-members: $18.00 ADD TO CART

Show All Keywords

Keywords/Phrases

Search In:

Publication Years