Title :
Distributed feature based RBPF multi robot SLAM
Author :
Jafri, Syed Riaz un Nabi ; Brayda, Luca ; Chellali, Ryad
Author_Institution :
Italian Inst. of Technol., Genoa, Italy
Abstract :
This paper presents a new approach to solve multi robot simultaneous localization and mapping (SLAM) problem by allowing fast and efficient features exchange among teammates. Each mate is able to build its own SLAM solution by using feature based Rao-Blackwellised Particle Filter algorithm. This scheme proposes that every feature extracted by individual mate should be shared with all team mates no matter that some features are viewed by more than one member. As the information exchange comprises only on small features set so the time taken to accommodate the information is small which makes it a good solution for distributed multi-robot system working with limited communication range and bandwidth. This paper presents experimental results for two different environments by using different platforms.
Keywords :
SLAM (robots); feature extraction; mobile robots; multi-robot systems; particle filtering (numerical methods); robot vision; Rao-Blackwellised particle filter algorithm; distributed feature based RBPF multirobot SLAM; distributed multirobot system; feature exchange; feature extraction; information exchange; limited bandwidth; limited communication range; mobile robotic systems; multirobot simultaneous localization-and-mapping problem; Feature extraction; Lasers; Simultaneous localization and mapping; Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181429
