DocumentCode
414267
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
Volume
2
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
1308
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308005
Filename
1308005
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