Reliable Multi-Robot Map Merging of Inaccurate Maps

Advances in Practical Applications of Heterogeneous Multi-Agent Systems. The PAAMS Collection: Proceedings of the 12th International Conference (PAAMS 2014) 2014
Ilze Andersone, Agris Ņikitenko

The multi-robot teams have a potential to significantly speed up the mapping process of the environment, compared to the single robot mapping. However, in multi-robot case the problem of merging the information collected by individual robots must be addressed. There are many map merging approaches that allow the fusion of the maps, when the relative positions of the robots are known initially or are discovered during the mapping. The case, when relative positions of robots are unknown, is considered by relatively few researchers. This paper presents a novel method of map merging during multi-robot exploration, when the relative positions of the robots are not known.

Keywords
Map merging, robotic mapping
DOI
10.1007/978-3-319-07551-8_2
Hyperlink
http://link.springer.com/chapter/10.1007%2F978-3-319-07551-8_2

Andersone, I., Ņikitenko, A. Reliable Multi-Robot Map Merging of Inaccurate Maps. In: Advances in Practical Applications of Heterogeneous Multi-Agent Systems. The PAAMS Collection: Proceedings of the 12th International Conference (PAAMS 2014), Spain, Salamanca, 4-6 June, 2014. Heidelberg: Springer, 2014, pp.13-24. ISBN 978-331907550-1. e-ISBN 978-3-319-07551-8. ISSN 0302-9743. Available from: doi:10.1007/978-3-319-07551-8_2

Publication language
English (en)