Event-driven loop closure in multi-robot mapping
2009 (English)In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE conference proceedings, 2009, 1535-1540 p.Conference paper (Refereed)
A large-scale mapping approach is combined with multiple robots events to achieve cooperative mapping. The mapping approach used is based on hierarchical SLAM -global level and local maps-, which is generalized for the multi-robot case. In particular, the consequences of multi-robot loop closing events (common landmarks detection and relative pose measurement between robots) are analyzed and managed at a global level. We present simulation results for each of these events using aerial and ground robots, and experimental results obtained with ground robots.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2009. 1535-1540 p.
National CategoryComputer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-73414DOI: 10.1109/IROS.2009.5354335ISBN: 978-1-4244-3803-7OAI: oai:DiVA.org:liu-73414DiVA: diva2:472030
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 11-15 October, October, St. Louis, USA