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A distributed transferable belief model for collaborative topological map-building in multi-robot systems
Marche Polytechnic University Ancona, Ancona, Italy.
Roma Tre University, Rome, Italy.
Roma Tre University, Rome, Italy.
Roma Tre University, Rome, Italy.
2010 (engelsk)Inngår i: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2010, s. 554-560Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper the problem of multi-robot collaborative topological map-building is addressed. In this framework, a team of robots is supposed to move in an indoor office-like environment. Each robot, after building a local map by using infrared range-finders, achieves a topological representation of the environment by extracting the most significant features via the Hough transform and comparing them with a set of predefined environmental patterns. The local view of each robot which is significantly constrained by its limited sensing capabilities is then strengthened by a collaborative aggregation schema based on the Transferable Belief Model (TBM). In this way, a better representation of the environment is achieved by each robot with a minimal exchange of information. A preliminary experimental validation carried out by exploiting data collected from a self-made team of robots is proposed.

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IEEE, 2010. s. 554-560
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URN: urn:nbn:se:oru:diva-24055DOI: 10.1109/IROS.2010.5651379ISBN: 978-1-4244-6674-0 (tryckt)ISBN: 978-1-4244-6676-4 (digital)OAI: oai:DiVA.org:oru-24055DiVA, id: diva2:540663
Konferanse
IEEE/RJS International Conference on Intelligent Robots and Systems, Taipei, 18-22 Oct. 2010
Tilgjengelig fra: 2012-07-10 Laget: 2012-07-10 Sist oppdatert: 2018-04-24bibliografisk kontrollert

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