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Author: Ilze Andersone

Affiliation: Riga Technical University, Kalku Street 1, Riga, Latvia

Keyword(s): Multi-robot Systems, Robot Map Merging, Heterogeneous Robot Maps, Occupancy Grids.

Abstract: Studies have shown that multi-robot mapping has the benefit of faster environment exploration when compared to single robot mapping. However, when multiple robots explore the environment simultaneously, a new problem arises – how to merge the individual robot maps. While there are many map merging methods developed for homogeneous maps, heterogeneous robot map merging is still a new research area. Another relatively little researched aspect of map merging is how to deal with an error in the map merging decision. This paper proposes a map merging framework for the distributed merging of heterogeneous robot maps and offers two approaches for the further mapping with an emphasis on map merging process reversibility.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Andersone, I. (2021). Distributed Framework for Reversible Merging of Heterogeneous Robot Maps. In Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-484-8; ISSN 2184-433X, SciTePress, pages 422-430. DOI: 10.5220/0010342404220430

@conference{icaart21,
author={Ilze Andersone.},
title={Distributed Framework for Reversible Merging of Heterogeneous Robot Maps},
booktitle={Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2021},
pages={422-430},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010342404220430},
isbn={978-989-758-484-8},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Distributed Framework for Reversible Merging of Heterogeneous Robot Maps
SN - 978-989-758-484-8
IS - 2184-433X
AU - Andersone, I.
PY - 2021
SP - 422
EP - 430
DO - 10.5220/0010342404220430
PB - SciTePress

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