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Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/32809

Title: Cooperative Localization and Mapping in Sparsely-communicating Robot Networks
Authors: Leung, Keith Yu Kit
Advisor: Barfoot, Timothy D.
Liu, Hugh
Department: Aerospace Science and Engineering
Keywords: Multi-robot System
Simultaneous Localization and Mapping (SLAM)
Mobile Robotics
Networked Robotics
Issue Date: 31-Aug-2012
Abstract: This thesis examines the use of multiple robots in cooperative simultaneous localization and mapping (SLAM), where each robot must estimate the poses of all robots in the team, along with the positions of all known landmarks. The robot team must operate under the condition that the communication network between robots is never guaranteed to be fully connected. Under this condition, a novel algorithm is derived that allows each robot to obtain the centralized-equivalent estimate in a decentralized manner, whenever possible. The algorithm is then extended to a decentralized and distributed approach where robots share the computational burden in considering different data association hypotheses in generating the centralized-equivalent consensus estimate.
URI: http://hdl.handle.net/1807/32809
Appears in Collections:Doctoral

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