NDLI: Incremental multi-robot mapping

Content Provider	IEEE Xplore Digital Library
Author	Lakaemper, R. Latecki, L.J. Wolter, D.
Copyright Year	2005
Description	Author affiliation: Dept. of CIS, Temple Univ., Philadelphia, PA, USA (Lakaemper, R.; Latecki, L.J.)
Abstract	The purpose of this paper is to present a technique to create a global map of robots' surroundings by converting the raw data acquired from a scanning sensor to a compact map composed of just a few generalized polylines (polygonal curves). We propose a new approach to merging robots' maps that is composed of a local geometric process of merging similar line segments (termed discrete segment evolution) with a global statistical control process. In the case of single robot, we are able to incrementally build a map showing the environment the robot has traveled through by merging its polygonal map with actual scans. In the case of a robot team, we are able to identify common parts of their partial maps and if common parts are present construct a joint map of the explored environment.
Starting Page	3846
Ending Page	3851
File Size	147279
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1544978
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape Robot sensing systems Cognitive robotics Merging Simultaneous localization and mapping Stress Computational Intelligence Society Mathematics Informatics Process control Shape Similarity Robot Mapping Team of Robots Map Fusion Cognitive Robotics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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