Title :
Multi-robot cooperation and data fusion in map-building
Author :
Shuo, Wang ; Min, Tan
Author_Institution :
Inst. of Autom., Acad. Sinica, Beijing, China
Abstract :
In this paper, multirobot system is introduced in map-building task. The data fusion and multirobot cooperation are focused on. A suitable range sensor model is addressed, and several situations that occurred in multiple robots building map are analyzed. Evidential reasoning based on Dempster-Shafer theory is used in data fusion, and cooperation strategies are presented to avoid invalid sensing information
Keywords :
case-based reasoning; cooperative systems; distance measurement; mobile robots; multi-robot systems; sensor fusion; Dempster-Shafer theory; data fusion; evidential reasoning; map-building; multirobot cooperation; range sensor model; Buildings; Chirp; Costs; Fault tolerant systems; Mobile robots; Multirobot systems; Robot kinematics; Robot sensing systems; Robotics and automation; Sensor systems;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863446
