NDLI: Dynamic consensus for merging visual maps under limited communications

Content Provider	IEEE Xplore Digital Library
Author	Aragues, R. Cortes, J. Sagues, C.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical and Aerospace Engineering, University of California San Diego, 9500 Gilman Dr, La Jolla, 92093-0411, USA (Cortes, J.) \|\| DIIS - I3A, University of Zaragoza, María de Luna, 50018, Spain (Aragues, R.; Sagues, C.)
Abstract	In this paper we present an algorithm for merging visual maps in a robot network. Along the operation, each robot observes the environment and builds and maintains its local map. Simultaneously, the robots communicate and build a global map of the environment. The communication between the robots is limited, and, at every time instant, each robot can only exchange data with its neighboring robots. We provide a distributed solution to the problem which does not rely on any particular communication topology and is robust to changes in the topology. Each robot computes and tracks the global map based on local interactions with its neighbors. Our contribution is the extension of distributed sensor fusion ideas to the problem of dynamic map merging. Under mild connectivity conditions on the communication graph, this algorithm asymptotically converges to the global map. The real experiments have been carried out with visual information, which is of special interest in robotics.
Starting Page	3032
Ending Page	3037
File Size	893366
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509820
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Merging Broadcasting Delay estimation Robotics and automation Robot sensing systems Topology Sensor fusion USA Councils Robustness Particle filters
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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