Multi-robot SLAM with sparse extended information filers

Springer Tracts in Advanced Robotics

Volumn 15, Issue , 2005, Pages 254-265

  Thrun, Sebastian ^a   Liu, Yufeng ^b  

^a Stanford University   (United States)

^b CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

INDUSTRIAL ROBOTS; MARKOV PROCESSES; MULTIPURPOSE ROBOTS; ROBOTICS;

BENCHMARK DATA; GAUSSIAN MARKOV RANDOM FIELD; HILL CLIMBING ALGORITHMS; MULTIROBOTS; REAL-WORLD; ROBOT POSE; SIMULTANEOUS LOCALIZATION AND MAPPING PROBLEMS; TREE-BASED ALGORITHMS;

TREES (MATHEMATICS);

EID: 84885063294     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/11008941_27     Document Type: Article

References (19)

1. M. Bosse, P. Newman, M. Soika, W. Feiten, J. Leonard, and S. Teller. An atlas framework for scalable mapping. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2003.
2. W. Burgard, D. Fox, M. Moors, R. Simmons, and S. Thrun. Collaborative multi-robot exploration. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, 2000. IEEE.
3. G. Dissanayake, P. Newman, S. Clark, H.F. Durrant-Whyte, and M. Csorba. A solution to the simultaneous localisation and map building (SLAM) problem. IEEE Transactions ofRobotics andAutomation, 2001. In Press.
4. J. Guivant and E. Nebot. Optimization of the simultaneous localization and map building algorithm for real time implementation. IEEE Transactions ofRobotics and Automation, May 2001. In press.
5. K. Konolige, J.-S. Gutmann, D. Guzzoni, R. Ficklin, and K. Nicewarner. A mobile robot sense net. In Proceedings of SPIE 3839 Sensor Fusion and Decentralized Control in Robotic Systmes II, Boston, September 1999.
6. J. Leonard, J.D. Tardós, S. Thrun, and H. Choset, editors. Workshop Notes of the ICRA Workshop on Concurrent Mapping and Localization for Autonomous Mobile Robots (W4). ICRA Conference, Washington, DC, 2002.
7. M. Montemerlo, S. Thrun, D. Koller, and B. Wegbreit. FastSLAM 2.0: An improved particle filtering algorithm for simultaneous localization and mapping that provably converges. In Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence (IJCAI), Acapulco, Mexico, 2003. IJCAI.
8. P. Moutarlier and R. Chatila. An experimental system for incremental environment modeling by an autonomous mobile robot. In 1st International Symposium on Experimental Robotics, Montreal, June 1989.
9. K. Murphy. Bayesian map learning in dynamic environments. In Advances in Neural Information Processing Systems (NIPS). MIT Press, 1999.
10. E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktogan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337-347, Bellingham, 2000.
11. M.A. Paskin. Thin junction tree filters for simultaneous localization and mapping. Technical Report UCB/CSD-02-1198, University of California, Berkeley, CA, 2002.
12. J. Pearl. Probabilistic reasoning in intelligent systems: networks of plausible inference. Morgan Kaufmann Publishers, San Mateo, CA, 1988.
13. R. Simmons, D. Apfelbaum, W. Burgard, M. Fox, D. Moors, S. Thrun, and H. Younes. Coordination for multi-robot exploration and mapping. In Proceedings of the AAAI National Conference on Artificial Intelligence, Austin, TX, 2000. AAAI.
14. R.C. Smith and P. Cheeseman. On the representation and estimation of spatial uncertainty. International Journal of Robotics Research, 5(4):56-68, 1986.
15. B. Stewart, J. Ko, D. Fox, and K. Konolige. A hierarchical bayesian approach to mobile robot map structure estimation. In Proceedings of the Conference on Uncertainty in Al (UAI), Acapulco, Mexico, 2003.
16. J.D. Tardós, J. Neira, P.M. Newman, and J.J. Leonard. Robust mapping and localization in indoor environments using sonar data. Int. J. Robotics Research, 21(4):311-330, April 2002.
17. S. Thrun, W. Burgard, and D. Fox. A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, 2000. IEEE.
18. S. Thrun, D. Koller, Z. Ghahramani, H. Durrant-Whyte, and A.Y. Ng. Simultaneous mapping and localization with sparse extended information filters. In J.-D. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson, editors, Proceedings of the Fifth International Workshop on Algorithmic Foundations of Robotics, Nice, France, 2002.
19. Y. Weiss and W.T. Freeman. Correctness of belief propagation in gaussian graphical models of arbitrary topology. Neural Computation, 13(10):2173-2200, 2001.