A multi-robot, cooperative, and active SLAM algorithm for exploration

Viet Cuong Pham, Jyh Ching Juang

研究成果: Article同行評審

8 引文 斯高帕斯(Scopus)

摘要

The paper proposes a cooperative and active SLAM (simultaneous localization and mapping) algorithm for exploration of unknown environment by using multiple robots. In the exploration process, it is desired that the task can be accomplished efficiently and with high quality. The paper formulates the exploration problem as an efficiency optimization problem that is subject to localization quality constraints. The proposed approach allows the dispersion of multiple robots in the cooperative and active sense with a guaranteed level of localization and mapping accuracy. The paper further investigates the use of adaptive strategy for balancing the need of exploration and localization. A rendezvous technique is provided to deal with the problem of limited communication. Simulation results demonstrate that the proposed approach outperforms existing methods.

原文English
頁(從 - 到)2567-2583
頁數17
期刊International Journal of Innovative Computing, Information and Control
9
發行號6
出版狀態Published - 2013 七月 17

All Science Journal Classification (ASJC) codes

  • Software
  • Theoretical Computer Science
  • Information Systems
  • Computational Theory and Mathematics

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