Title :
Map Merging Strategies for Multi-robot FastSLAM: A Comparative Survey
Author :
Romero, V.A. ; Costa, O.L.V.
Author_Institution :
Dept. de Eng. de Telecomun. e Controle, Escola Politec. da Univ. de Sao Paulo, Sao Paulo, Brazil
Abstract :
A comparative survey between the two basic strategies used to combine partial landmark based maps in multi-robot systems, data association and inter-robot observations (Rendezvous), is presented. The simulated environment is a flat place populated by trees, which are going to be mapped by a two-mobile robot team equipped with laser range finders in order to measure every tree (landmark) location and width. Partial maps are estimated using the algorithm FastSLAM2.0.
Keywords :
laser ranging; mobile robots; multi-robot systems; sensor fusion; FastSLAM2.0; data association; inter-robot observations; laser range finders; map merging strategies; multirobot systems; partial landmark based maps; simultaneous localization and mapping; tree location; two-mobile robot team;
Conference_Titel :
Robotics Symposium and Intelligent Robotic Meeting (LARS), 2010 Latin American
Conference_Location :
Sao Bernardo do Campo
Print_ISBN :
978-1-4244-8639-7
DOI :
10.1109/LARS.2010.20
