Multi-Robot Localization and Mapping based on Signed Distance Functions

被引：8

作者：

Koch, Philipp ^{[1
]}

May, Stefan ^{[1
]}

Schmidpeter, Michael ^{[1
]}

Kuehn, Markus ^{[1
]}

Pfitzner, Christian ^{[1
]}

Merkl, Christian ^{[1
]}

Koch, Rainer ^{[1
]}

Fees, Martin ^{[1
]}

Martin, Jon ^{[1
]}

Nuechter, Andreas ^{[2
]}

机构：

[1] Nuremberg Inst Technol Georg Simon Ohm, Fac Elect Engn, Precis Engn, Informat Technol, Nurnberg, Germany

[2] Julius Maximilians Univ Wurzburg, Informat Robot & Telemat 7, Wurzburg, Germany

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC) | 2015年

关键词：

D O I：

10.1109/ICARSC.2015.18

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This publication describes a 2D Simultaneous Localization and Mapping approach applicable to multiple mobile robots. The presented strategy uses data of 2D LIDAR sensors to build a dynamic representation based on Signed Distance Functions. A multi-threaded software architecture performs registration and data integration in parallel allowing for drift-reduced pose estimation of multiple robots. Experiments are provided demonstrating the application with single and multiple robot mapping using simulated data, public accessible recorded data as well as two actual robots operating in a comparably large area.

引用

页码：77 / 82

页数：6

共 50 条

[1] Multi-Robot Localization and Mapping Based on Signed Distance Functions
Philipp Koch
Stefan May
Michael Schmidpeter
Markus Kühn
Christian Pfitzner
Christian Merkl
Rainer Koch
Martin Fees
Jon Martin
Daniel Ammon
Andreas Nüchter
Journal of Intelligent & Robotic Systems, 2016, 83 : 409 - 428
[2] Multi-Robot Localization and Mapping Based on Signed Distance Functions
Koch, Philipp
May, Stefan
Schmidpeter, Michael
Kuehn, Markus
Pfitzner, Christian
Merkl, Christian
Koch, Rainer
Fees, Martin
Martin, Jon
Ammon, Daniel
Nuechter, Andreas
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2016, 83 (3-4) : 409 - 428
[3] Partially observed distance mapping for cooperative multi-robot localization
Hongmo Je
Gaurav S. Sukhatme
Daijin Kim
Intelligent Service Robotics, 2009, 2 : 1 - 8
[4] Partially observed distance mapping for cooperative multi-robot localization
Je, Hongmo
Sukhatme, Gaurav S.
Kim, Daijin
INTELLIGENT SERVICE ROBOTICS, 2009, 2 (01) : 1 - 8
[5] Vision-based multi-robot simultaneous localization and mapping
Hajjdiab, H
Laganière, R
1ST CANADIAN CONFERENCE ON COMPUTER AND ROBOT VISION, PROCEEDINGS, 2004, : 155 - 162
[6] Flow-Based Localization and Mapping for Multi-Robot Systems
Kumar, Arjun
Silva, Thales C.
Edwards, Victoria
Hsieh, M. Ani
IEEE ROBOTICS AND AUTOMATION LETTERS, 2025, 10 (04): : 3278 - 3285
[7] Decentralized Multi-robot Simultaneous Localization and Mapping
Jaai, R.
Chopra, N.
Balachandran, B.
Karki, H.
SENSORS AND SMART STRUCTURES TECHNOLOGIES FOR CIVIL, MECHANICAL, AND AEROSPACE SYSTEMS 2011, 2011, 7981
[8] Survey of Implementation of Multi-Robot Simultaneous Localization and Mapping
Kshirsagar, Jaydeep
Shue, Sam
Conrad, James M.
IEEE SOUTHEASTCON 2018, 2018,
[9] The UTIAS multi-robot cooperative localization and mapping dataset
Leung, Keith Y. K.
Halpern, Yoni
Barfoot, Timothy D.
Liu, Hugh H. T.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2011, 30 (08): : 969 - 974
[10] The research on multi-robot Simultaneous Localization Mapping algorithm
Wei, Zhenhua
Huang, Guolin
Wang, Peidong
2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6, 2007, : 1241 - +

← 1 2 3 4 5 →