RTU Research Information System
Latviešu English

Publikācija: Mapping Implementation for Multi-robot System with Glyph Localisation

Publication Type Publications in RTU scientific journal
Funding for basic activity Unknown
Defending: ,
Publication language English (en)
Title in original language Mapping Implementation for Multi-robot System with Glyph Localisation
Field of research 1. Natural sciences
Sub-field of research 1.2 Computer and information sciences
Authors Ilze Andersone
Aleksis Liekna
Agris Ņikitenko
Keywords multi-robot mapping, occupancy grid mapping, glyph localization.
Abstract An important prerequisite for creation of autonomous robot is the ability to create the map of the environment. Robots need to be able to construct a map of the environment and to use it for navigation. In this paper a multirobot mapping approach is proposed, where artificial landmarks (glyphs) are used for robot localisation and only simple sensors – bumper sensors – are available for obstacle detection. The proposed mapping system creates the map of the environment and allows changing the map rapidly in case of inaccurate robot position measurements or sensor errors. The system has a central server and robots use wireless network to communicate with the server. The mapping implementation takes into account the fact that the network has limited bandwidth and only limited amount of data can be sent.
DOI: 10.2478/acss-2013-0008
Reference Andersone, I., Liekna, A., Ņikitenko, A. Mapping Implementation for Multi-robot System with Glyph Localisation. Applied Computer Systems. Vol.14, 2013, pp.67-72. ISSN 22558683.
Full-text Full-text
ID 15957