NDLI: RFID Technology-based Exploration and SLAM for Search And Rescue

Content Provider	IEEE Xplore Digital Library
Author	Kleiner, A. Prediger, J. Nebel, B.
Copyright Year	2006
Description	Author affiliation: Inst. fur Informatik, Freiburg Univ. (Kleiner, A.; Prediger, J.; Nebel, B.)
Abstract	Robot search and rescue is a time critical task, i.e. a large terrain has to be explored by multiple robots within a short amount of time. The efficiency of exploration depends mainly on the coordination between the robots and hence on the reliability of communication, which considerably suffers under the hostile conditions encountered after a disaster. Furthermore, rescue robots have to generate a map of the environment which has to be sufficiently accurate for reporting the locations of victims to human task forces. Basically, the robots have to solve autonomously in real-time the problem of simultaneous localization and mapping (SLAM). This paper proposes a novel method for real-time exploration and SLAM based on RFID tags that are autonomously distributed in the environment. We utilized the algorithm of Lu and Milios for calculating globally consistent maps from detected RFID tags. Furthermore we show how RFID tags can be used for coordinating the exploration of multiple robots. Results from experiments conducted in the simulation and on a robot show that our approach allows the computationally efficient construction of a map within harsh environments, and coordinated exploration of a team of robots
Starting Page	4054
Ending Page	4059
File Size	255421
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281867
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Radiofrequency identification Simultaneous localization and mapping Robot kinematics RFID tags Humans Intelligent robots State estimation NIST Computational modeling Fires
Content Type	Text
Resource Type	Article

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