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Robust, low-bandwidth, multi-vehicle mapping

Abstract:

This paper addresses the problem of decentralised simultaneous localisation and map building for a team of agents where the communication bandwidth is limited. We present an extension to current approaches that enables multiple vehicles to acquire a joint map, but which can cope with communication bandwidth limitations. Nettleton's approach uses a hybrid information filter/Covariance Intersection algorithm on each communication link to manage the inter-vehicle communication and ensure that in...

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Publication status:
Published

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Publisher copy:
10.1109/ICIF.2005.1592009

Authors


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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Role:
Author
Journal:
2005 7th International Conference on Information Fusion (FUSION), Vols 1 and 2
Volume:
2
Pages:
1319-1326
Publication date:
2005-01-01
DOI:
URN:
uuid:39e2a7ed-e897-4a38-9125-7e78109eb609
Source identifiers:
286649
Local pid:
pubs:286649
Language:
English

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