Distributed Cooperative Outdoor Multirobot Localization and Mapping

Autor:	Lynne E. Parker, Kingsley Fregene, Raj Madhavan
Rok vydání:	2004
Předmět:	Scheme (programming language) Traverse Computer science business.industry Elevation Terrain Kalman filter Extended Kalman filter Artificial Intelligence Metric map Robot Computer vision Artificial intelligence business computer computer.programming_language
Zdroj:	Autonomous Robots. 17:23-39
ISSN:	0929-5593
DOI:	10.1023/b:auro.0000032936.24187.41
Popis:	The subject of this article is a scheme for distributed outdoor localization of a team of robots and the use of the robot team for outdoor terrain mapping. Localization is accomplished via Extended Kalman Filtering (EKF). In the distributed EKF-based scheme for localization, heterogeneity of the available sensors is exploited in the absence or degradation of absolute sensors aboard the team members. The terrain mapping technique then utilizes localization information to facilitate the fusion of vision-based range information of environmental features with changes in elevation profile across the terrain. The result is a terrain matrix from which a metric map is then generated. The proposed algorithms are implemented using field data obtained from a team of robots traversing an uneven outdoor terrain.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::e0f40f71011889c503692155fdf86565 https://doi.org/10.1023/b:auro.0000032936.24187.41 Zobrazit plný text záznamu Full text from SpringerLink