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Distributed map merging in a robotic network
R. Aragüés, J. Cortés, and C. Sagüés
Proceedings of the IEEE/RSJ Conference on Intelligent Robots and Systems, Nice, France, 2008, Workshop on Network Robot Systems: human concepts of space and activity, integration, and applications, pp. 104-110

Abstract

The map merging problem in a robotic network consists of the construction of a global map of the environment using the partial (local) maps individually acquired by the robots. We build on ideas from distributed sensor fusion to provide an algorithmic solution to the map merging problem that uses the local maps as sensor measurements. We use a distributed average consensus algorithm that reaches asymptotic consensus on the value of the global map. The proposed solution can be used in a network with switching topology. We also present some experimental results of the algorithm.

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