Map Merging Strategies for Multi-robot FastSLAM: A Comparative Survey

Map Merging Strategies for Multi-robot FastSLAM: A Comparative Survey

A comparative survey between the two basic strategies used to combine partial landmark based maps in multi-robot systems, data association and inter-robot observations (Rendezvous), is presented. The simulated environment is a flat place populated by trees, which are going to be mapped by a two-mobi...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Romero, V A, Costa, O L V
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Equations
Mathematical model
Merging
Noise
Robot kinematics
Simultaneous localization and mapping
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Beschreibung
Zusammenfassung:A comparative survey between the two basic strategies used to combine partial landmark based maps in multi-robot systems, data association and inter-robot observations (Rendezvous), is presented. The simulated environment is a flat place populated by trees, which are going to be mapped by a two-mobile robot team equipped with laser range finders in order to measure every tree (landmark) location and width. Partial maps are estimated using the algorithm FastSLAM2.0.
DOI:10.1109/LARS.2010.20