Title :
Incremental multi-agent robotic mapping of outdoor terrains
Author :
Fregene, Kingsley ; Madhavan, Raj ; Parker, Lynne E.
Author_Institution :
Center for Eng. Syst. Adv. Res., Oak Ridge Nat. Lab., TN, USA
Abstract :
We describe a scheme for building terrain maps of realistic outdoor environments by having multiple robotic agents navigate in them. The terrain map combines vision-based depth information of environmental features with an elevation gradient created by fusing vertical displacements obtained from inclinometer pitch angles with DGPS altitude data. Experimental results are presented to illustrate the practical application of this scheme
Keywords :
Global Positioning System; mobile robots; multi-agent systems; multi-robot systems; navigation; path planning; robot vision; DGPS; depth from-motion; multiple agent system; multiple robotic agents; navigation; outdoor terrains; robot vision; terrain mapping; vertical displacements; vision-based depth information; Computer science; Government; Laboratories; Mathematics; Mobile robots; Robot kinematics; Robot sensing systems; Robot vision systems; Target tracking; Terrain mapping;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014729
