Decentralized certainty grid maps

This work is concerned with mapping of indoor environment by a team of robots who share the information they gather to build a global representation of the environment in a consistent, efficient, and scalable way. The well known approach of Decentralized Data Fusion is applied to a widely used repre...

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Bibliographic Details
Main Authors: Makarenko, A.A., Williams, S.B., Durrant-Whyte, H.F.
Format: Conference Proceeding
Language:English
Subjects:
Centralized control
Communication system control
Content addressable storage
Human robot interaction
Mobile communication
Mobile robots
Robot sensing systems
Robustness
Simultaneous localization and mapping
Vehicles
Online Access:Request full text
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Summary:This work is concerned with mapping of indoor environment by a team of robots who share the information they gather to build a global representation of the environment in a consistent, efficient, and scalable way. The well known approach of Decentralized Data Fusion is applied to a widely used representation of Certainty Grid maps. The result is a scalable and intuitive algorithm for combining observations from multiple heterogeneous sensing platforms with built-in processing and communication capabilities. The platforms are assumed to have access to external localization. Results of realistic simulations are presented.
DOI:10.1109/IROS.2003.1249658