DocumentCode :
2563634
Title :
Multi-robot SLAM using M-Space feature representation
Author :
Benedettelli, Daniele ; Garulli, Andrea ; Giannitrapani, Antonio
Author_Institution :
Dept. of Inf. Eng., Univ. of Siena, Rome, Italy
fYear :
2010
fDate :
15-17 Dec. 2010
Firstpage :
3826
Lastpage :
3831
Abstract :
This paper presents a SLAM algorithm for a team of mobile robots exploring an indoor environment, described by adopting the M-Space representation of linear features. Each robot solves the SLAM problem independently. When the robots meet, the local maps are fused together using robot-to-robot relative range and bearing measurements. A map fusion technique, tailored to the specific feature representation adopted, is proposed. Moreover, the uncertainty affecting the resulting merged map is explicitly derived from the single-robot SLAM maps and the robot-to-robot measurement accuracy. Simulation experiments are presented showing a team composed of two robots performing SLAM in a real-world scenario.
Keywords :
SLAM (robots); mobile robots; multi-robot systems; uncertain systems; M-space feature representation; bearing measurements; local maps; map fusion technique; mobile robots; multirobot SLAM; robot-to-robot relative range measurement; uncertainty; Covariance matrix; Estimation error; Feature extraction; Robot kinematics; Simultaneous localization and mapping;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
ISSN :
0743-1546
Print_ISBN :
978-1-4244-7745-6
Type :
conf
DOI :
10.1109/CDC.2010.5716942
Filename :
5716942
Link To Document :
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