S. B. Williams, "Efficient Solutions to Autonomous Mapping and Navigation Problems," Ph.D. Thesis, Department of Mechanical and Mechatronic Engineering, The University of Sydney, 2001.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....jointly processed a more robust data association is obtained. It is in fact a gate validation technique applied to a multi dimensional observation. This joint data association intrinsically considers the geometric relation between a set of landmarks [19] 21] A wider technique is presented in [20]. This technique creates a local map after a short time local SLAM, and matches this with a global map based on that vector data association. In FastSLAM, the association can be determined on a per particle basis, and hence different particles can be associated with different landmarks. Each ....

....the way. IV. MULTI ROBOT FASTSLAM The implementation was also extended to handle MultiRobot SLAM problems. Multi Robot SLAM involves a team of robots, which cooperatively acquire a single map of a shared environment. The multi robot SLAM problem has been addressed using EKF approaches [13] [20]. Multi robot SLAM with FastSLAM makes it possible to build a joint map even if the vehicles do not know their initial relative pose, although the number of particles needed will be dependent on this uncertainty. There are two relevant strategies: Centralised and Decentralised Multi Robot SLAM. ....

Williams S. Efficient Solutions to Autonomous Mapping and Navigation Problems. PhD Thesis, University of Sydney, 2001.

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S. B. Williams, "Efficient Solutions to Autonomous Mapping and Navigation Problems," Ph.D. Thesis, Department of Mechanical and Mechatronic Engineering, The University of Sydney, 2001.

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