Map Merging with Suppositional Box for Multi-Robot Indoor Mapping
نویسندگان
چکیده
منابع مشابه
Map-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کاملFast and accurate map merging for multi-robot systems
We present a new algorithm for merging occupancy grid maps produced by multiple robots exploring the same environment. The algorithm produces a set of possible transformations needed to merge two maps, i.e translations and rotations. Each transformation is weighted, thus allowing to distinguish uncertain situations, and enabling to track multiple cases when ambiguities arise. Transformations ar...
متن کاملCooperative Multi-robot Map Merging Using Fast-SLAM
Multi-robot map merging is an essential task for cooperative robot navigation. In the realistic case, the robots do not know the initial positions of the others and this adds extra challenges to the problem. Some approaches search transformation parameters using the local maps and some approaches assume the robots will observe each other and use robot to robot observations. This work extends a ...
متن کاملMap merging for distributed robot navigation
A set of robots mapping an area can potentially combine their information to produce a distributed map more efficiently than a single robot alone. We describe a general framework for distributed map building in the presence of uncertain communication. Within this framework, we then present a technical solution to the key decision problem of determining relative location within partial maps.
متن کاملOccupancy Grid Map Merging for Multiple robot simultaneous Localization and Mapping
In robotics, the key requirement for achieving autonomy is to provide robots with the ability to accurately map an environment and simultaneously localize themselves within that environment. This problem is referred to as Simultaneous Localization and Mapping (SLAM). In this research, a decentralized platform for SLAM with multiple robots has been developed. Single-robot SLAM is achieved throug...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Electronics
سال: 2021
ISSN: 2079-9292
DOI: 10.3390/electronics10070815