Title :
Local maps fusion for real time multirobot indoor simultaneous localization and mapping
Author :
Rodriguez-Losada, Diego ; Matia, Fernando ; Jimenez, Agustin
Author_Institution :
DISAM, Univ. Polytech. de Madrid, Spain
fDate :
April 26-May 1, 2004
Abstract :
This paper presents an implementation of the local maps fusion concept for the simultaneous localization and mapping (SLAM) problem within the extended Kalman filter (EKF) framework. Several problems never addressed before, arise while implementing the solution for indoor environments, and are successfully solved to obtain maps of quite large real indoor environments with more than one robot in real time.
Keywords :
Kalman filters; mobile robots; multi-robot systems; path planning; position control; extended Kalman filter; indoor environments; local maps fusion; real time multirobot; simultaneous localization and mapping; Computational complexity; Equations; Filters; Indoor environments; Real time systems; Robots; Simultaneous localization and mapping; State estimation; Stochastic processes; Uncertainty;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308005
