Experiments in Free-Space Triangulation Using Cooperative Localization

Ioannis Rekleitis, Gregory Dudek, Evangelos Milios
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2003. [39 citations]

Abstract

Abstract: This paper presents a first detailed case study of collaborative exploration of a substantial environment.We use a pair of cooperating robots to test multi-robot environment mapping algorithms based on triangulation of free space (see video). The robots observe one another using a robot tracking sensor based on laser range sensing (LIDAR). The environment mapping itself is accomplished using sonar sensing. The results of this mapping are compared to those obtained using scanning laser range sensing and the scan matching algorithm. We show that with appropriate outlier rejection policies, the sonar-based map obtained using collaborative localization can be as good or, in fact, better than that obtained using what is typically considered to be a superior sensing technology.

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BibTeX

@inproceedings{Rekleitis2003c,
  author       = {Ioannis Rekleitis and Gregory Dudek and Evangelos Milios},
  title        = {Experiments in Free-Space Triangulation Using Cooperative
		 Localization},
  booktitle    = {IEEE/RSJ International Conference on Intelligent Robots
		 and Systems (IROS)},
  pages        = {1777--1782},
  year	       = {2003},
  address      = {Las Vegas, NV, USA},
  month        = {Oct.},
  organization = {IEEE/RSJ}
}

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Mon Sep 16 06:21:02 EDT 2019