NDLI: Cooperative simultaneous localization and mapping for multi-robot: Approach & experimental validation

Content Provider	IEEE Xplore Digital Library
Author	Tong Tao Yalou Huang Jing Yuan Fengchi Sun Xiaolin Wu
Copyright Year	2010
Description	Author affiliation: College of Information Technical Science, Nankai University, Tianjin 300071, China (Tong Tao; Yalou Huang; Jing Yuan) \|\| College of Software, Nankai University, Tianjin 300071, China (Fengchi Sun; Xiaolin Wu)
Abstract	This paper focuses the multi-robot cooperative simultaneous localization and mapping (SLAM) problem. First, we proposed a decoupled fashion of the map building. Through this fashion, each robot builds the local sub-map independently. The sub-map fusion approach based on Extended Kalman Filter (EKF) is provided. Second, we implemented the active motion of each robot during the local sub-map building process. Each robot will choose the optimized control input of the next step. The optimal objective for this paper is to address the accuracy, the information gain, and the multi-robots cooperation. Finally, an experiment system called IIPSLAMPlatform is built to implement the multi-robot cooperative map building. The IIPSLAMPlatform is built in hybrid architecture. The experiments are conducted under this experiment system. We also compared the multi-robot map building with the single robot condition from the view of uncertainty. The result shows the advantage of multi-robot map building.
Starting Page	2888
Ending Page	2893
File Size	950519
Page Count	6
File Format	PDF
ISBN	9781424467129
e-ISBN	9781424467129
DOI	10.1109/WCICA.2010.5554910
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-07
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Buildings Simultaneous localization and mapping Covariance matrix Uncertainty Feature extraction Sub-map fusion Multi-robot system Cooperation SLAM
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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