DocumentCode
1895603
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
Volume
2
fYear
2002
fDate
2002
Firstpage
1339
Lastpage
1346
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1014729
Filename
1014729
Link To Document