Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Dynamic consensus for
merging visual maps under limited communications
R. Aragüés, J. Cortés, and
C. Sagüés
Proceedings of the IEEE Conference on
Robotics and Automation, Anchorage, Alaska, 2010, pp. 3032-3037
Abstract
In this paper we present an algorithm for merging visual maps in a
robot network. Along the operation, each robot observes the
environment and builds and maintains its local map. Simultaneously,
the robots communicate and build a global map of the environment. The
communication between the robots are limited, and, at every time
instant, the robots can only exchange data with their neighboring
robots. We provide a fully distributed solution to the problem. This
solution does not rely on any particular communication topology and is
robust to changes in the topology. Information is exchanged
exclusively between neighbors and there are no broadcast messages or
flooding procedures. The contribution is the dynamic map merging
proposal as an extension of distributed sensor fusion ideas. Under
mild connectivity conditions on the communication graph, this
algorithm asymptotically converges to the solution. The real
experiments have been carried out with visual information, which is of
special interest in robotics.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo