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Proceedings Paper

Decentralized multi-robot simultaneous localization and mapping
Author(s): R. Jaai; N. Chopra; B. Balachandran; H. Karki
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Paper Abstract

In the simultaneous localization and mapping (SLAM) problem, one addresses the problem of using mobile sensor platforms or robotic systems to map unknown environments while simultaneously localizing the mobile systems relative to the map. Applications include mapping in oil storage tanks, oil pipes, search and rescue operations, surveillance operations, exploration operations. In this effort, a previously proposed multi-robot localization algorithm is extended to implement SLAM. The decentralized algorithm is demonstrated to work in dynamic robot networks. Experimental and numerical studies conducted with multiple networked mobile platforms are also discussed to validate the analytical findings.

Paper Details

Date Published: 14 April 2011
PDF: 7 pages
Proc. SPIE 7981, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2011, 798126 (14 April 2011); doi: 10.1117/12.880516
Show Author Affiliations
R. Jaai, Univ. of Maryland, College Park (United States)
N. Chopra, Univ. of Maryland, College Park (United States)
B. Balachandran, Univ. of Maryland, College Park (United States)
H. Karki, The Petroleum Institute (United Arab Emirates)


Published in SPIE Proceedings Vol. 7981:
Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2011
Masayoshi Tomizuka, Editor(s)

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