Event-driven loop closure in multi-robot mapping

Vidal-Calleja, TA; Berger, C; Lacroix, S

Event-driven loop closure in multi-robot mapping

Vidal-Calleja, TA

Berger, C Lacroix, S

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Publication Type:: Conference Proceeding
Citation:: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 2009, pp. 1535 - 1540
Issue Date:: 2009-12-11

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Field	Value	Language
dc.contributor.author	Vidal-Calleja, TA https://orcid.org/0000-0002-5763-9644	en_US
dc.contributor.author	Berger, C	en_US
dc.contributor.author	Lacroix, S	en_US
dc.date.issued	2009-12-11	en_US
dc.identifier.citation	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 2009, pp. 1535 - 1540	en_US
dc.identifier.isbn	9781424438044	en_US
dc.identifier.uri	http://hdl.handle.net/10453/23605
dc.description.abstract	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.	en_US
dc.relation.ispartof	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009	en_US
dc.relation.isbasedon	10.1109/IROS.2009.5354335	en_US
dc.title	Event-driven loop closure in multi-robot mapping	en_US
dc.type	Conference Proceeding
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
dc.location.activity	St Louis, MO	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

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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http://hdl.handle.net/10453/23605