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Just-in-time cooper...
Just-in-time cooperative simultaneous localization and mapping : A robust particle filter approach
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- Martin, Adrian (författare)
- Institute for Aerospace Studies, University of Toronto
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- Emami, Reza (författare)
- Institute for Aerospace Studies, University of Toronto
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(creator_code:org_t)
- 2014
- 2014
- Engelska.
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Ingår i: International Journal of Robotics and Automation. - 0826-8185. ; 29:2, s. 119-132
- Relaterad länk:
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https://urn.kb.se/re...
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visa fler...
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https://doi.org/10.2...
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visa färre...
Abstract
Ämnesord
Stäng
- A new approach to simultaneous localization and mapping (SLAM) using particle filters has been developed to address the issue of limited and changing processing resources in autonomous exploration tasks. This algorithm is able to store and integrate historical data after the fact to improve current estimates and to delay weight processing until it is required. The foundation of the approach is developed here and is proposed as a new strategy that can complement many existing particle filter SLAM algorithms. The algorithm is demonstrated in a Cooperative SLAM implementation with an occupancy grid map. Simulation results show a 17% reduction in exploration time compared to two traditional SLAM approaches.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- Distributed control
- Multi-robot system
- Particle filter
- Simultaneous localization and mapping
- Onboard space systems
- Rymdtekniska system
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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