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Multi-hypothesis map merging with sinogram-based PSO for multi-robot systems

Multi-hypothesis map merging with sinogram-based PSO for multi-robot systems

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Multi-robot map merging without inter-robot observations, common landmarks, and the knowledge of initial relative poses is a challenging problem due to lack of features or local maxima. This Letter proposes a multi-hypothesis map merging algorithm with sinogram-based particle swarm optimisation to solve the problem. Experimental results show that the proposed algorithm can merge individual robot maps much more accurately than the existing algorithms.

http://iet.metastore.ingenta.com/content/journals/10.1049/el.2016.1041
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