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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