A Probabilistic On-Line Mapping Algorithm for Teams of Mobile Robots:

摘要: An efficient probabilistic algorithm for the concurrent mapping and localization problem that arises in mobile robotics is presented. The addresses which a team of robots builds map on-line while simultaneously accommodating errors robots’ odometry. At core technique combines fast maximum likelihood growing with Monte Carlo localizer uses particle representations. combination both yields an can cope large odometric typically found when environments cycles. be implemented distributed manner on multiple robot platforms, enabling to cooperatively generate single their environment. Finally, extension described acquiring three-dimensional maps, capture structure visual appearance indoor three dimensions.