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Proceedings Paper

Multiple-robot system for decentralized SLAM investigations
Author(s): Rob H. Deaves; David Nicholson; David W. Gough; Lewis A. Binns; Paul Vangasse; Phil Greenway
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Paper Abstract

Technical details of laboratory based robotic system for researching decentralized Simultaneous Localization and Map building (SLAM) are provided. The main components of the system are Pioneer (ActivMedia) robots, laboratory environment for mapping, laser tracking system for testing the SLAM accuracy and a suite of SLAM software algorithms. The system is used to provide a demonstration and initial practical results of decentralized multiple-platform SLAM. The paper concludes that useful system has been set-up for researching this technology area. Further, the demonstration highlights important benefits of multiple- platform decentralized SLAM over a single platform approach. These include an increase in map accuracy, an improvement in the completeness and timeliness of the map, and an increase in platform accuracy although that platform was not extrinsically sensed. Future research areas are discussed.

Paper Details

Date Published: 16 October 2000
PDF: 10 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403747
Show Author Affiliations
Rob H. Deaves, BAE SYSTEMS (United Kingdom)
David Nicholson, BAE SYSTEMS (United Kingdom)
David W. Gough, BAE SYSTEMS (United Kingdom)
Lewis A. Binns, BAE SYSTEMS (United Kingdom)
Paul Vangasse, BAE SYSTEMS (United Kingdom)
Phil Greenway, BAE SYSTEMS (United Kingdom)

Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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