Multi-robot simultaneous localization and mapping using D-SLAM framework

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dc.contributor.author Wang, Zhan en_US
dc.contributor.author Huang, Shoudong en_US
dc.contributor.author Dissanayake, Gamini en_US
dc.contributor.editor ARC Research Network on Sensor Networks en_US
dc.date.accessioned 2009-11-09T05:39:16Z
dc.date.available 2009-11-09T05:39:16Z
dc.date.issued 2007 en_US
dc.identifier 2007001032 en_US
dc.identifier.citation Wang Zhan, Huang Shoudong, and Dissanayake Gamini 2007, 'Multi-robot simultaneous localization and mapping using D-SLAM framework', ARC Research Network on Sensor Networks, Melbourne, pp. 317-322. en_US
dc.identifier.issn 1-4244-1502-0 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/3172
dc.description.abstract This paper presents an algorithm for the multi-robot simultaneous localization and mapping (SLAM) problem with the robot initial locations completely unknown. Each robot builds its own local map using the traditional extended Kalman filter (EKF) SLAM algorithm. We provide a new method to fuse the local maps into a jointly maintained global map by first transforming the local map state estimate into relative location information and then conducting the fusion using the decoupled SLAM (D-SLAM) framework (Wang et al., 2007). An efficient algorithm to find the map overlap and corresponding beacons across the maps is developed from a point feature based medical image registration method and the joint compatibility test. By adding the robot initial pose of each local map into the global map state, the algorithm shows valuable properties. Simulation results are provided to illustrate the effectiveness of the algorithm. en_US
dc.publisher ARC Research Network on Sensor Networks en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/ISSNIP.2007.4496863 en_US
dc.title Multi-robot simultaneous localization and mapping using D-SLAM framework en_US
dc.parent The Third International Conference on Intelligent Sensors, Sensor Networks and Information Processing en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Melbourne en_US
dc.identifier.startpage 317 en_US
dc.identifier.endpage 322 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference en_US
dc.conference Verified OK en_US
dc.conference.location Melbourne en_US
dc.for 090200 en_US
dc.personcode 101889 en_US
dc.personcode 040006 en_US
dc.personcode 011224 en_US
dc.percentage 100 en_US
dc.classification.name Automotive Engineering en_US
dc.classification.type FOR-08 en_US
dc.custom International Conference on Intelligent Sensors, Sensor Networks and Information Processing en_US
dc.date.activity 20071203 en_US
dc.location.activity Melbourne en_US
dc.description.keywords Kalman filters , SLAM (robots) , image registration , medical image processing en_US
dc.staffid 011224 en_US


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