Title :
Multi-robot SLAM on Client-Server Architecture
Author :
Castro, Diego Alberto ; Morales, Carlos Fernando ; De La Rosa, R. Fernando
Author_Institution :
Dept. de Ing. de Sist. y Comput., Univ. de los Andes, Bogota, Colombia
Abstract :
One of the most important challenges in mobile robotics is the estimation of the robot´s position while it explores the environment. The SLAM (Simultaneous Localization and Mapping) technique solves this challenge while it builds an approximate map of the environment. This paper proposes a mono-robot SLAM solution applied by a group of mobile robots in a common environment. The robots are autonomous during navigation, they estimate their localization and they report their maps to a central process in order to build a unified map of the environment. This solution is constructed using a distributed approach aiming to reduce the time required to obtain a solution, and to increase the information used. This paper also presents results obtained from simulations and tests performed in an experimental environment.
Keywords :
SLAM (robots); client-server systems; mobile robots; motion estimation; multi-robot systems; path planning; autonomous robots; client server architecture; mapping; mobile robotics; mobile robots; monorobot SLAM solution; multirobot SLAM; navigation; robot position estimation; simultaneous localization; Color; Robot kinematics; Servers; Simultaneous localization and mapping; SLAM; distributed systems; localization; mapping; mobile robotics; multi-robot platform;
Conference_Titel :
Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian
Conference_Location :
Fortaleza
Print_ISBN :
978-1-4673-4650-4
DOI :
10.1109/SBR-LARS.2012.39