Sciweavers

Share
IJRR
2006

Predicting the Performance of Cooperative Simultaneous Localization and Mapping (C-SLAM)

8 years 12 months ago
Predicting the Performance of Cooperative Simultaneous Localization and Mapping (C-SLAM)
In this paper we study the time evolution of the position estimates' covariance in Cooperative Simultaneous Localization and Mapping (C-SLAM), and obtain analytical upper bounds for the positioning uncertainty. The derived bounds provide descriptions of the asymptotic positioning performance of a team of robots in a mapping task, as a function of the characteristics of the proprioceptive and exteroceptive sensors of the robots, and of the graph of relative position measurements recorded by the robots. A study of the properties of the Riccati recursion which describes the propagation of uncertainty through time, yields (i) the guaranteed accuracy for a robot team in a given C-SLAM application, as well as (ii) the maximum expected steady-state uncertainty of the robots and landmarks, when the spatial distribution of features in the environment can be modeled by a known distribution. The theoretical results are validated both in simulation and experimentally.
Anastasios I. Mourikis, Stergios I. Roumeliotis
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2006
Where IJRR
Authors Anastasios I. Mourikis, Stergios I. Roumeliotis
Comments (0)
books