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Merging maps of multiple robots ∗
| Citations: | 6 - 2 self |
BibTeX
@MISC{Adluru_mergingmaps,
author = {Nagesh Adluru and Longin Jan Latecki and Marc Sobel and Rolf Lakaemper},
title = {Merging maps of multiple robots ∗},
year = {}
}
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Abstract
Merging local maps, acquired by multiple robots, into a global map, (also known as map merging) is one of the important issues faced by virtually all cooperative exploration techniques. We present a novel and simple solution to the problem of map merging by reducing it to the problem of SLAM of a single ”virtual” robot. The individual local maps and their shape information constitute the sensor information for the virtual robot. This approach allows us to adapt the framework of Rao-Blackwellized particle filtering used in SLAM of a single robot for the problem of map merging. 1
