Cognitive Map Merging For Multi-Robot Navigation

Anderson A. Silva, Esther L. Colombini, Carlos H. C. Ribeiro



In this paper we investigate a map-building strategy based on geometric and topological information about the environment, acquired through sonar sensors and odometric actuator. To reduce robot individual exploration needs, a framework based on multi-robot map acquisition is proposed, where each robot executes a map building algorithm and performs exploration in the environment. The current global map is built based on the merging of overlapping regions among the previously cognitive maps. A brief description of the on-going research and the results obtained is also provided.


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Paper Citation

in Harvard Style

A. Silva A., L. Colombini E. and H. C. Ribeiro C. (2005). Cognitive Map Merging For Multi-Robot Navigation . In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005) ISBN 972-8865-34-1, pages 102-111. DOI: 10.5220/0001196801020111

in Bibtex Style

author={Anderson A. Silva and Esther L. Colombini and Carlos H. C. Ribeiro},
title={Cognitive Map Merging For Multi-Robot Navigation},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)},

in EndNote Style

JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2005)
TI - Cognitive Map Merging For Multi-Robot Navigation
SN - 972-8865-34-1
AU - A. Silva A.
AU - L. Colombini E.
AU - H. C. Ribeiro C.
PY - 2005
SP - 102
EP - 111
DO - 10.5220/0001196801020111