Parallel and Distributed Map Merging and Localization: Algorithms, Tools and Strategies for Robotic Networks

ISBN-13: 9783319258843 / Angielski / Miękka / 2015 / 116 str.

Rosario Aragues; Carlos Sagues; Youcef Mezouar

Opis

This work examines the challenges of distributed map merging and localization in multi-robot systems, which enables robots to acquire the knowledge of their surroundings needed to carry out coordinated tasks. After identifying the main issues associated with this problem, each chapter introduces a different distributed strategy for solving them. In addition to presenting a review of distributed algorithms for perception in localization and map merging, the text also provides the reader with the necessary tools for proposing new solutions to problems of multi-robot perception, as well as other interesting topics related to multi-robot scenarios. The coverage is largely self-contained, supported by numerous explanations and demonstrations, although references for further study are also supplied. The reader will not require any prior background knowledge, other than a basic understanding of mathematics at a graduate-student level.

Spis treści

Introduction

Distributed Data Association

Distributed Localization

Map Merging

Real Experiments

Conclusions

Appendix A: Averaging Algorithms and Metropolis Weights

Appendix B: Auxiliary Results for Distributed Localization

Blurb

This work examines the challenges of distributed map merging and localization in multi-robot systems, which enables robots to acquire the knowledge of their surroundings needed to carry out coordinated tasks. After identifying the main issues associated with this problem, each chapter introduces a different distributed strategy for solving them.

In addition to presenting a review of distributed algorithms for perception in localization and map merging, the text also provides the reader with the necessary tools for proposing new solutions to problems of multi-robot perception, as well as other interesting topics related to multi-robot scenarios.

This work will be of interest to postgraduate students and researchers in the robotics and control communities, and will appeal to anyone with a general interest in multi-robot systems. The reader will not require any prior background knowledge, other than a basic understanding of mathematics at a graduate-student level. The coverage is largely self-contained, supported by numerous explanations and demonstrations, although references for further study are also supplied.