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Proceedings Article

Decentralized multi-robot simultaneous localization and mapping

[+] Author Affiliations
R. Jaai, N. Chopra, B. Balachandran

Univ. of Maryland, College Park (USA)

H. Karki

The Petroleum Institute (United Arab Emirates)

Proc. SPIE 7981, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2011, 798126 (April 14, 2011); doi:10.1117/12.880516
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From Conference Volume 7981

  • Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2011
  • Masayoshi Tomizuka
  • San Diego, California, USA | March 06, 2011

abstract

In the simultaneous localization and mapping (SLAM) problem, one addresses the problem of using mobile sensor platforms or robotic systems to map unknown environments while simultaneously localizing the mobile systems relative to the map. Applications include mapping in oil storage tanks, oil pipes, search and rescue operations, surveillance operations, exploration operations. In this effort, a previously proposed multi-robot localization algorithm is extended to implement SLAM. The decentralized algorithm is demonstrated to work in dynamic robot networks. Experimental and numerical studies conducted with multiple networked mobile platforms are also discussed to validate the analytical findings.

© (2011) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation

R. Jaai ; N. Chopra ; B. Balachandran and H. Karki
"Decentralized multi-robot simultaneous localization and mapping", Proc. SPIE 7981, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2011, 798126 (April 14, 2011); doi:10.1117/12.880516; http://dx.doi.org/10.1117/12.880516


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