NDLI: Cooperative Localization and Mapping

Content Provider	IEEE Xplore Digital Library
Author	Stipes, J. Hawthorne, R. Scheidt, D. Pacifico, D.
Copyright Year	2006
Description	Author affiliation: Appl. Phys. Lab., Johns Hopkins Univ., Laurel, MD (Stipes, J.; Hawthorne, R.; Scheidt, D.)
Abstract	Practical realization of autonomous multi-vehicle control in feature rich GPS-denied areas requires that agents possess the capability to generate and share maps with details adequate for successful operation in complex environments. In addition, coordination of behaviors among robotic vehicles in a swarm is greatly enhanced by exploitation of information acquired by all members of the group. The representation of, and mechanism for this information exchange and the control algorithms that utilize this information are the key components of autonomous multi-vehicle control. The use of stigmergic potential fields (SPF) and distributed control algorithms to realize adaptive, cooperative behaviors within the context of feature-rich GPS-denied environments is the focus of this paper. Specifically, the described control algorithms have been combined with the leading simultaneous localization and mapping (SLAM) approaches to yield robust multi-robot behaviors including exploration and mapping
Sponsorship	IEEE SYSTEMS, MAN AND CYBERNETICS SOC
Starting Page	596
Ending Page	601
File Size	3563438
Page Count	6
File Format	PDF
ISBN	1424400651
DOI	10.1109/ICNSC.2006.1673213
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-04-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Robot kinematics Physics Remotely operated vehicles Mobile robots USA Councils Navigation Buildings Orbital robotics Land vehicles Swarm Multi-Robot SLAM Localization Mapping Intelligent Agents GPS-denied
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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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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