Simultaneous localization and mapping in distributed multi-robot systems
Keywords: multi-robot systems, simultaneous localisation and mapping, data-association, sensor fusion
Project leader: Mika Vainio
Other researchers: Janne Paanajärvi, Marek Matusiak, Johanna Lantto
Active: 2007-01-01 ... 2009-12-31
The objective of the research is to implement and improve on simultaneous localisation and mapping methods in a heterogeneous multi-robot system. Key research themes are dynamic environment, fusing information from different sensor modalities, cooperative localisation and mapping between heterogeneous robots and robust data-association. These features are important in successful deployment of an autonomous multi-robot system in a partially unknown and dynamic environment. The methods will be tested on real multi-robot systems, some of which are currently under development
- Jari Saarinen,
A sensor-based personal navigation system and its application for incorporating humans into a human-robot team,
Doctoral dissertation, Department of Automation and Systems Technology, Helsinki University of Technology, Espoo, Finland, 2009. (Automation Technology, Series A, Research Reports).
- Marek Matusiak, Janne Paanajärvi, Pekka Appelqvist, Mikko Elomaa, Mika Vainio, T Ylikorpi and A Halme,
"A Novel Marsupial Robot Society: Towards Long-Term Autonomy,"
in Proc. The 9th International Symposium on Distributed Autonomous Robotic Systems (DARS 2008), Tsukuba Japan, November 17-19, 2008, 2008.