منابع مشابه
Topological Map Merging
When multiple robots cooperatively explore an environment, maps from individual robots must be merged to produce a single globally consistent map. This is a difficult problem when the robots do not have a common reference frame or global positioning. In this paper, we describe an algorithm for merging embedded topological maps. Topological maps provide a concise description of the navigability ...
متن کاملMetric Map Merging using RFID Tags & Topological Information
A map merging component is crucial for the proper functionality of a multi-robot system performing exploration, since it provides the means to integrate and distribute the most important information carried by the agents: the explored/covered space and its exact (depending on the SLAM accuracy) morphology. Map merging is a prerequisite for an intelligent multi-robot team aiming to deploy a smar...
متن کاملOn map merging
We illustrate our experience in developing and implementing algorithms for map merging, i.e., the problem of fusing two or more partial maps without common reference frames into one large global map. The partial maps may for example be acquired by multiple robots, or during several runs of a single robot from varying starting positions. Our work deals with low quality maps based on probabilisti...
متن کاملRegion merging with topological control
This paper presents a region merging process controlled by topological features on regions in 3D images. Betti numbers, a well-known topological invariant, are used as criteria. Classical and incremental algorithms to compute Betti numbers using information represented by the topological map of an image are provided. The region merging algorithm, which merges of any number of connected componen...
متن کاملRobotic clusters: Multi-robot systems as computer clusters: A topological map merging demonstration
In most multi-robot systems, an individual robot is not capable to solve computationally hard problems due to lack of high processing power. This paper introduces the novel concept of robotic clusters to empower these systems in their problem solvings. A robotic cluster is a group of individual robots which are able to share their processing resources, therefore, the robots can solve difficult ...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2005
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364905056348