Event-driven loop closure in multi-robot mapping

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Conference Proceeding
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 2009, pp. 1535 - 1540
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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 multirobot 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. © 2009 IEEE.
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