NDLI: Multi-robot SLAM with topological/metric maps

Content Provider	IEEE Xplore Digital Library
Author	Chang, H.J. Lee, C.S.G. Hu, Y.C. Yung-Hsiang Lu
Copyright Year	2007
Description	Author affiliation: Purdue Univ., West Lafayette (Chang, H.J.; Lee, C.S.G.; Hu, Y.C.; Yung-Hsiang Lu)
Abstract	In recent years, the success of single-robot SLAM has led to more multi-robot SLAM (MR-SLAM) research. A team of robots with MR-SLAM can explore an environment more efficiently and reliably; however, MR-SLAM also raises many challenging problems, including map fusion, unknown robot poses and scalability issues. The first two problems can be considered as an optimization problem of finding a consistent joint map based on robots' relative poses and sensory data. This optimization problem exhibits a similar property of a single- robot topological/metric mapping. To exploit this property, we propose a multi-robot SLAM (MR-SLAM) algorithm, which builds a graph-like topological map with vertices representing local metric maps and edges describing relative positions of adjacent local maps. In this MR-SLAM algorithm, the map fusion between two robots can be naturally done by adding an edge that connects two topological maps, and the estimation of relative robot pose is simply performed by optimizing this edge. For the third scalable problem, the proposed algorithm is also scalable to the number of robots and the size of an environment. Computer simulations with a public data set and experimental work on Pioneer 3-DX robots have been conducted to validate the performance of the proposed MR-SLAM algorithm.
Starting Page	1467
Ending Page	1472
File Size	496893
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399142
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Robot sensing systems Scalability Multirobot systems Bayesian methods Intelligent robots USA Councils Reliability engineering Computer simulation multi-robot systems Mobile robotics simultaneous localization and mapping
Content Type	Text
Resource Type	Article

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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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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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