Decentralized Multi-robot Simultaneous Localization and Mapping

被引：0

作者：

Jaai, R. ^{[1
]}

Chopra, N. ^{[2
]}

Balachandran, B. ^{[1
]}

Karki, H. ^{[3
]}

机构：

[1] Univ Maryland, Dept Mech Engn, College Pk, MD 20742 USA

[2] Univ Maryland, Syst Res Inst, Dept Mech Engn, College Pk, MD 20742 USA

[3] Petr Inst, Dept Engn Mech, Abu Dhabi, U Arab Emirates

来源：

SENSORS AND SMART STRUCTURES TECHNOLOGIES FOR CIVIL, MECHANICAL, AND AEROSPACE SYSTEMS 2011 | 2011年 / 7981卷

关键词：

Multi-robot SLAM; Decentralized cooperative SLAM;

D O I：

10.1117/12.880516

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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.

引用

页数：7

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