14 April 2011 Decentralized multi-robot simultaneous localization and mapping
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Abstract
In the simultaneous localization and mapping (SLAM) problem, one addresses the problem of using mobile sensor platforms or robotic systems to map unknown environments while simultaneously localizing the mobile systems relative to the map. Applications include mapping in oil storage tanks, oil pipes, search and rescue operations, surveillance operations, exploration operations. In this effort, a previously proposed multi-robot localization algorithm is extended to implement SLAM. The decentralized algorithm is demonstrated to work in dynamic robot networks. Experimental and numerical studies conducted with multiple networked mobile platforms are also discussed to validate the analytical findings.
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R. Jaai, N. Chopra, B. Balachandran, H. Karki, "Decentralized multi-robot simultaneous localization and mapping", Proc. SPIE 7981, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2011, 798126 (14 April 2011); doi: 10.1117/12.880516; https://doi.org/10.1117/12.880516
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