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access icon free Accurate map merging with virtual emphasis for multi-robot systems

  • Author(s): H.C. Lee 1 ; Y.J. Cho 2 ; B.H. Lee 1
    • View affiliations
    • Affiliations: 1: Seoul National University, 1 Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea;
      2: Electronics and Telecommunications Research Institute, 218 Gajeong-ro, Yuseong-gu, Daejeon, Republic of Korea
  • Source: Volume 49, Issue 15, 18 July 2013, p. 932 – 934
    DOI:  10.1049/el.2013.1572 , Print ISSN 0013-5194, Online ISSN 1350-911X
© The Institution of Engineering and Technology
Received 09/05/2013, Published
Errata or comment

A new grid map-merging technique which consists of virtual emphasis by one-way observation, curvature-based map matching and particle swarm optimisation is proposed. The proposed technique can improve not only the accuracy of map merging, but also the flexibility of multi-robot systems. The improved performance is verified by showing higher similarities than the existing map-merging techniques in experiments.

Inspec keywords: multi-robot systems; particle swarm optimisation

Other keywords: accurate map merging; particle swarm optimisation; grid map merging technique; one way observation; curvature based map matching; virtual emphasis; multirobot systems

Subjects: Optimisation techniques; Robotics

References

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robot-controlled fusion*
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