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On Group-Centric Topology Representation for Mobile Robot Teams
Linköping University, The Institute of Technology. Linköping University, Department of Mechanical Engineering, Fluid and Mechanical Engineering Systems.
2004 (English)Report (Other academic)
Abstract [en]

When dealing with robot localization and simultaneous map building one of the greates problem is to keep the created map consistent. Due to linearization, simplifications and other errors in models resent work has shown that the map created will, eventually, diverge. One way of dealing with these problems is to present the map in robot coordinates and thereby increase the consistency of the map. In the case many robots are used to create a map collectively this consistency problem often arises even sooner. This work propose a new method of dealing with the consistency problem when doing collaborative mapping by presenting the map in a groupcentric coordinate frame that continuously moves together with the robot team as new areas are explored.

Place, publisher, year, edition, pages
Linköping: Linköpings universitet , 2004.
, LiTH-IKP-R, 422
Keyword [en]
SLAM, robot teams, topology, formation, deploy, group-centric
National Category
Engineering and Technology
URN: urn:nbn:se:liu:diva-36925Local ID: 33070OAI: diva2:257774
Available from: 2009-10-10 Created: 2009-10-10

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Andersson, Lars
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The Institute of TechnologyFluid and Mechanical Engineering Systems
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