Title :
Decentralised Simultaneous Localisation and Mapping for AUVs
Author :
Diosdado, Jose Vazquez ; Ruiz, Joseba Tena
Abstract :
This paper presents a novel decentralised architecture for simultaneous localization and mapping using multiple vehicles. The architecture is tailored for underwater environments with limited bandwidth and infrequent communications. The maps are represented using the information form of the EKF. In this form the update of information is an additive process; as a result, incremental new information can be integrated across different vehicles with arbitrary network latencies. Our experimental results show the effectiveness of the architecture.
Keywords :
Kalman filters; navigation; oceanographic techniques; remotely operated vehicles; underwater equipment; AUV localisation; AUV mapping; extended Kalman filter; network latency; simultaneous localization and mapping; underwater environments; Bandwidth; Computer architecture; Delay; Distributed algorithms; Information filtering; Information filters; Navigation; Simultaneous localization and mapping; Underwater communication; Vehicles; Distributed Navigation; Information Filter; SLAM;
Conference_Titel :
OCEANS 2007 - Europe
Conference_Location :
Aberdeen
Print_ISBN :
978-1-4244-0635-7
Electronic_ISBN :
978-1-4244-0635-7
DOI :
10.1109/OCEANSE.2007.4302397
