Max Pfingsthorn, Yashodhan Nevatia, Todor Stoyanov, Ravi Rathnam, Stefan Markov and Andreas Birk
Towards Collaborative and Decentralized Mapping in the Jacobs University Virtual Rescue Team
Proc. Robocup Internationa Symposium, 2008
Abstract: The task of mapping and exploring an unknown environment remains one of the fundamental problems of mobile robotics. It is a task that can intuitively benefit significantly from a multi-robot approach. In this paper, we describe the design of the multi-robot mapping system used in the Jacobs Virtual Rescue team. The team competed in the World Cup 2007 and won the second place. It is shown how the recently proposed pose graph map representation facilitates not only map merging but also allows transmitting map updates efficiently.
Download:
Paper: [PDF (0.5MB)]
@INPROCEEDINGS{Birk_etal:RobocupSymposium:2008,
  AUTHOR = {Pfingsthorn, M. and Nevatia, Y. and Stoyanov, T. and Rathnam, R. and Markov, S. and Birk, A.},
  TITLE = {Towards Collaborative and Decentralized Mapping in the Jacobs University Virtual Rescue Team},
  BOOKTITLE = {RoboCup 2008: Robot WorldCup XII, L. Iocchi, H. Matsubara, A. Weitzenfeld, C. Zhou (Eds.), Lecture Notes in Artificial Intelligence (LNAI),Springer},
  YEAR = {2008},
  ADRESS = {Suzhou, China},
}