SLAM and map merging
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Campo DC | Valor | Idioma |
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dc.contributor.author | León García, Ángel | - |
dc.contributor.author | Barea Navarro, Rafael | - |
dc.contributor.author | Bergasa Pascual, Luis Miguel | - |
dc.contributor.author | López Guillén, Elena | - |
dc.contributor.author | Ocaña Miguel, Manuel | - |
dc.contributor.author | Schleicher Gómez, David | - |
dc.date.accessioned | 2009-11-23T08:57:18Z | - |
dc.date.available | 2009-11-23T08:57:18Z | - |
dc.date.issued | 2009-01 | - |
dc.identifier.citation | LEÓN GARCÍA, Ángel, et al. “SLAM and map merging”. Journal of Physical Agents. Vol. 3, No. 1 (Jan. 2009). ISSN 1888-0258, pp. 13-23 | en |
dc.identifier.issn | 1888-0258 | - |
dc.identifier.uri | http://hdl.handle.net/10045/12576 | - |
dc.identifier.uri | http://dx.doi.org/10.14198/JoPha.2009.3.1.03 | - |
dc.description.abstract | This paper presents a multi-robot mapping and localization system. Learning maps and efficient exploration of an unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping problem). Our approach involves a team of mobile robots that uses Scan-Matching and Fast-SLAM techniques based on scan-laser and odometry information for mapping large environments. The single maps generated for each robot are more accurate than the maps generated only by odometry. When a robot detects another, it sends its processed map and the master robot generates a very accurate global map. This method cuts down the global map building time. Some experimental results and conclusions are presented. | en |
dc.description.sponsorship | Comunidad de Madrid and the University of Alcalá, support through the projects RoboCity2030 (CAM-S-0505/DPI/000176) and SLAM-MULEX (CCG07-UAH/DPI-1736). | en |
dc.language | eng | en |
dc.publisher | Red de Agentes Físicos | en |
dc.subject | Multi-robot SLAM | en |
dc.subject | Scan-matching | en |
dc.subject | Fast-slam | en |
dc.subject | Rao-blackwellised particle filter | en |
dc.subject.other | Ciencia de la Computación e Inteligencia Artificial | en |
dc.title | SLAM and map merging | en |
dc.type | info:eu-repo/semantics/article | en |
dc.peerreviewed | si | en |
dc.identifier.doi | 10.14198/JoPha.2009.3.1.03 | - |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | - |
Aparece en las colecciones: | Journal of Physical Agents - 2009, Vol. 3, No. 1 |
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Archivo | Descripción | Tamaño | Formato | |
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JoPha_3_1_03.pdf | 1,08 MB | Adobe PDF | Abrir Vista previa | |
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