Map merging for distributed robot navigation

Map merging for distributed robot navigation

A set of robots mapping an area can potentially combine their information to produce a distributed map more efficiently than a single robot alone. We describe a general framework for distributed map building in the presence of uncertain communication. Within this framework, we then present a technic...

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Bibliographic Details
Published in:Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453) Vol. 1; pp. 212 - 217 vol.1
Main Authors: Konolige, K., Fox, D., Limketkai, B., Ko, J., Stewart, B.
Format: Conference Proceeding
Language:English
Published: IEEE 2003
Subjects:
Artificial intelligence
Centralized control
Communication system control
Intelligent robots
Merging
Navigation
Robot kinematics
Robot sensing systems
Robustness
Solids
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Summary:A set of robots mapping an area can potentially combine their information to produce a distributed map more efficiently than a single robot alone. We describe a general framework for distributed map building in the presence of uncertain communication. Within this framework, we then present a technical solution to the key decision problem of determining relative location within partial maps.
ISBN:0780378601
9780780378605
DOI:10.1109/IROS.2003.1250630