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An Online Mapping Algorithm for Teams of Mobile Robots (2001)
| Venue: | International Journal of Robotics Research |
| Citations: | 235 - 14 self |
BibTeX
@ARTICLE{Thrun01anonline,
author = {Sebastian Thrun},
title = {An Online Mapping Algorithm for Teams of Mobile Robots},
journal = {International Journal of Robotics Research},
year = {2001},
volume = {20},
pages = {2001}
}
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Abstract
We propose a new probabilistic algorithm for online mapping of unknown environments with teams of robots. At the core of the algorithm is a technique that combines fast maximum likelihood map growing with a Monte Carlo localizer that uses particle representations. The combination of both yields an online algorithm that can cope with large odometric errors typically found when mapping an environment with cycles. The algorithm can be implemented distributedly on multiple robot platforms, enabling a team of robots to cooperatively generate a single map of their environment. Finally, an extension is described for acquiring three-dimensional maps, which capture the structure and visual appearance of indoor environments in 3D.
Keyphrases
online mapping algorithm mobile robot multiple robot platform visual appearance single map maximum likelihood map indoor environment large odometric error monte carlo localizer unknown environment particle representation online algorithm three-dimensional map online mapping new probabilistic algorithm
