A Fast Algorithm for Multi-Robot SLAM

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Multi-robot SLAM has become a research hotspot in robot simultaneous localization and mapping (SLAM) in recent years. In this paper, we propose multi-robot exactly sparse extended information filters algorithm (MRESEIF) to solve Multi-robot SLAM problem. MRESEIF algorithm sets the threshold to divide the features which are observed by robots into two parts. One part of features are used on observation update, while the other one are used on robots relocalization. The simulation data shows that MRESEIF algorithm can solve multi-robot SLAM problem effectively, the oberservation update time and motion update time are kept in constant range, and the accuracy of robot poses is perfect.

Info:

Periodical:

Advanced Materials Research (Volumes 562-564)

Edited by:

Liu Feng

Pages:

941-944

Citation:

X. L. Xu et al., "A Fast Algorithm for Multi-Robot SLAM", Advanced Materials Research, Vols. 562-564, pp. 941-944, 2012

Online since:

August 2012

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$41.00

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