Title :
Merging maps of multiple robots
Author :
Adluru, Nagesh ; Latecki, Longin Jan ; Sobel, Marc ; Lakaemper, Rolf
Abstract :
Merging local maps, acquired by multiple robots, into a global map, (also known as map merging) is one of the important issues faced by virtually all cooperative exploration techniques. We present a novel and simple solution to the problem of map merging by reducing it to the problem of SLAM of a single ¿virtual¿ robot. The individual local maps and their shape information constitute the sensor information for the virtual robot. This approach allows us to adapt the framework of Rao-Blackwellized particle filtering used in SLAM of a single robot for the problem of map merging.
Keywords :
SLAM (robots); mobile robots; multi-robot systems; particle filtering (numerical methods); SLAM; map merging; multiple robots; particle filtering; virtual robot; Convergence; Filtering; Merging; Multirobot systems; Orbital robotics; Proposals; Robot kinematics; Robot sensing systems; Shape; Simultaneous localization and mapping;
Conference_Titel :
Pattern Recognition, 2008. ICPR 2008. 19th International Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
978-1-4244-2174-9
Electronic_ISBN :
1051-4651
DOI :
10.1109/ICPR.2008.4761036