| Título: | SLAM and map merging |
| Autores: |
León García, Ángel Barea Navarro, Rafael Bergasa Pascual, Luis Miguel López Guillén, Elena Ocaña Miguel, Manuel Schleicher Gómez, David |
| Fecha: |
2009-11-23 2009-11-23 2009-01 |
| Publicador: | RUA Docencia |
| Fuente: |
 |
| Tipo: | info:eu-repo/semantics/article |
| Tema: |
Multi-robot SLAM Scan-matching Fast-slam Rao-blackwellised particle filter Ciencia de la Computación e Inteligencia Artificial |
| Descripción: |
This paper presents a multi-robot mapping and localization system. Learning maps and efficient exploration of an unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping problem). Our approach involves a team of mobile robots that uses Scan-Matching and Fast-SLAM techniques based on scan-laser and odometry information for mapping large environments. The single maps generated for each robot are more accurate than the maps generated only by odometry. When a robot detects another, it sends its processed map and the master robot generates a very accurate global map. This method cuts down the global map building time. Some experimental results and conclusions are presented. Comunidad de Madrid and the University of Alcalá, support through the projects RoboCity2030 (CAM-S-0505/DPI/000176) and SLAM-MULEX (CCG07-UAH/DPI-1736). |
| Idioma: | Inglés |
1 Choosing the correct paradigm for unknown words in rule-based machine translation systems por Sánchez Cartagena, Víctor Manuel,Esplà Gomis, Miquel,Sánchez Martínez, Felipe,Pérez Ortiz, Juan Antonio | 6 Análisis Real de Varias Variables II. Problemas (27-3-2013) por Conde Calero, Juan Manuel |
2 Using external sources of bilingual information for on-the-fly word alignment por Esplà Gomis, Miquel,Sánchez Martínez, Felipe,Forcada Zubizarreta, Mikel L. | 7 Introducción a mirada/s trans/identitarias,Introduction to trans-identitary look(s) por Amaro Quintas, Ángel Manuel |
3 | 8 |
4 | 9 |
5 Los espacios periurbanos en el área ibérica contestana: las novedades y algunas reflexiones históricas por Sala Sellés, Feliciana | 10 Matrimonio igualitario y parentesco: discursos, hegemonías y acontecimiento,Egalitarian marriage and kinship: discourses, hegemony and event por Buzaglo, Analía,Morandi, Mariela,Culla, Mónica |