Scalable Algorithms for Simultaneous Mapping and Localization of Mobile Robot Swarms
The chapter is devoted to the development of scalable algorithms for multi-agent solution of the SLAM problem. These algorithms are applicable to robots with limited computational resources, having limited computational power and memory, small spatial size, and power from a portable battery. To simp...
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| Autores principales: | , |
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| Formato: | Capítulo de libro |
| Lenguaje: | inglés |
| Publicado: |
IntechOpen
2022
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| Materias: | |
| Acceso en línea: | https://www.intechopen.com/chapters/84895 |
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| Sumario: | The chapter is devoted to the development of scalable algorithms for multi-agent solution of the SLAM problem. These algorithms are applicable to robots with limited computational resources, having limited computational power and memory, small spatial size, and power from a portable battery. To simplify the description, only robots equipped with LIDAR are considered. The main focus is as follows: a scalable multi-agent SLAM algorithm based on Dempster-Shafer theory; an algorithm for filtering two-dimensional laser scans to free up computational resources; evaluation of the accuracy of the map and trajectory constructed by the multi-agent algorithm; performance evaluation on resource-limited computing devices. |
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| ISBN: | 978-1-83768-008-5 |
| DOI: | 10.5772/intechopen.108315 |