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Author:
Kleiner, Alexander (University of Freiburg)
Sun, D. (University of Freiburg)
Title:
Decentralized SLAM for Pedestrians without direct Communication
Publication type:
Conference paper (Refereed)
Language:
English
In:
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
Publisher: IEEE conference proceedings
Pages:
1461-1466
Year of publ.:
2007
URI:
urn:nbn:se:liu:diva-72565
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72565
ISBN:
978-1-4244-0912-9
Subject category:
Robotics
Project:
Artificial Intelligence & Integrated Computer Systems
Abstract(en) :

We consider the problem of Decentralized Simultaneous Localization And Mapping (DSLAM) for pedestrians in the context of Urban Search And Rescue (USAR). In this context, DSLAM is a challenging task. First, data exchange fails due to cut off communication links. Second, loop-closure is cumbersome due to the fact that fireman will intentionally try to avoid performing loops, when facing the reality of emergency response, e.g. while they are searching for victims. In this paper, we introduce a solution to this problem based on the non-selfish sharing of information between pedestrians for loop-closure. We introduce a novel DSLAM method which is based on data exchange and association via RFID technology, not requiring any radio communication. The approach has been evaluated within both outdoor and semi-indoor environments. The presented results show that sharing information between single pedestrians allows to optimize globally their individual paths, even if they are not able to communicate directly.

Available from:
2011-11-29
Created:
2011-11-28
Last updated:
2011-12-02
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