Map merging strategies for multi-robot FastSLAM: a comparative survey

Romero Cano, V.A. ORCID: https://orcid.org/0000-0003-2910-5116 and Costa, O.L.V. 2011. Map merging strategies for multi-robot FastSLAM: a comparative survey. Presented at: 2010 Latin American Robotics Symposium and Intelligent Robotics Meeting, Sao Bernardo do Campo, Brazil, 23-28 October 2010. Proceedings 2010 Latin American Robotics Symposium and Intelligent Robotics Meeting. IEEE, pp. 61-66. 10.1109/lars.2010.20

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Abstract

A comparative survey between the two basic strategies used to combine partial landmark based maps in multi-robot systems, data association and inter-robot observations (Rendezvous), is presented. The simulated environment is a flat place populated by trees, which are going to be mapped by a two-mobile robot team equipped with laser range finders in order to measure every tree (landmark) location and width. Partial maps are estimated using the algorithm FastSLAM2.0.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Computer Science & Informatics
Publisher:	IEEE
ISBN:	978-1-4244-8639-7
Date of First Compliant Deposit:	14 November 2024
Date of Acceptance:	1 September 2010
Last Modified:	14 Jan 2025 17:15
URI:	https://orca.cardiff.ac.uk/id/eprint/174013

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