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ROBOCUP
2007
Springer

A Scalable Hybrid Multi-robot SLAM Method for Highly Detailed Maps

10 years 7 months ago
A Scalable Hybrid Multi-robot SLAM Method for Highly Detailed Maps
Abstract. Recent successful SLAM methods employ hybrid map representations combining the strengths of topological maps and occupancy grids. Such representations often facilitate multi-agent mapping. In this paper, a successful SLAM method is presented, which is inspired by the manifold data structure by Howard et al. This method maintains a graph with sensor observations stored in vertices and pose differences including uncertainty information stored in edges. Through its graph structure, updates are local and can be efficiently communicated to peers. The graph links represent known traversable space, and facilitate tasks like path planning. We demonstrate that our SLAM method produces very detailed maps without sacrificing scalability. The presented method was used by the UvA Rescue Virtual Robots team, which won the Best Mapping Award in the RoboCup Rescue Virtual Robots competition in 2006.
Max Pfingsthorn, Bayu Slamet, Arnoud Visser
Added 09 Jun 2010
Updated 09 Jun 2010
Type Conference
Year 2007
Where ROBOCUP
Authors Max Pfingsthorn, Bayu Slamet, Arnoud Visser
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