Name
Title | ||
|---|---|---|
Decentralized simultaneous localization and mapping for multiple aerial vehicles using range-only sensors |
Abstract | ||
|---|---|---|
This paper presents an approach for decentralized range-only simultaneous localization and mapping (RO-SLAM) of a network of aerial vehicles and a set of static range-only sensors deployed in the environment. The paper makes use of a multi-hypothesis framework developed by the authors [1] in order to deal with the multiple hypotheses that are present in the early stages of the undelayed RO-SLAM, this paper extends the approach to consider the integration of landmark estimations provided by other aerial vehicles nearby the robot. The method will enable a significant reduction in the convergence time needed to remove wrong localization hypotheses for every range-only landmark and, as a results, a map with improved accuracy. The proposed approach is validated first in simulations and later on with real experiments involving real range-only sensors and two unmanned aerial vehicles. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7140099 | IEEE International Conference on Robotics and Automation |
Keywords | Field | DocType |
SLAM (robots),autonomous aerial vehicles,mobile robots,multi-robot systems,robot vision,RO-SLAM,decentralized range-only simultaneous localization and mapping,landmark estimations,multihypothesis framework,multiple aerial vehicles,static range-only sensors,unmanned aerial vehicles | Convergence (routing),Computer vision,Multiple hypotheses,Azimuth,Artificial intelligence,Engineering,Simultaneous localization and mapping,Landmark,Robot | Conference |
Volume | Issue | ISSN |
2015 | 1 | 1050-4729 |
Citations | PageRank | References |
4 | 0.41 | 10 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Felipe R. Fabresse | 1 | 16 | 2.14 |
| Fernando Caballero | 2 | 610 | 45.38 |
| Aníbal Ollero | 3 | 1109 | 123.55 |