Evaluating Wireless Network Effects for SLAM Robot Map Making

Author

Reentov, Egor ; Messier, Geoffrey G. ; Magierowski, Sebastian

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Calgary, Calgary, AB, Canada

fYear

2010

fDate

6-10 Dec. 2010

Firstpage

1

Lastpage

5

Abstract

This work investigates how wireless network performance affects a rescue robot that is running a simultaneous localization and mapping (SLAM) algorithm. The SLAM algorithm is used to generate a map of an unknown disaster site. Odometry and laser range data collected by the robot is transferred via an ad-hoc wireless network to a central access point (AP) that is running the SLAM algorithm. Simulation is used to determine how losses, latency and the use of relays in the network affect the quality and completeness of the SLAM maps. This is illustrated using new metrics for SLAM map quality and completeness that are based on Hausdorff distance.

Keywords

SLAM (robots); ad hoc networks; disasters; laser ranging; Hausdorff distance; SLAM robot; ad hoc wireless network; central access point; disaster; laser range data collection; odometry; simultaneous localization and mapping algorithm; Ad hoc networks; Measurement; Relays; Simultaneous localization and mapping; Wireless networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Global Telecommunications Conference (GLOBECOM 2010), 2010 IEEE

Conference_Location

Miami, FL

ISSN

1930-529X

Print_ISBN

978-1-4244-5636-9

Electronic_ISBN

1930-529X

Type

conf

DOI

10.1109/GLOCOM.2010.5683169

Filename

5683169