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Technical University of Crete
Technical University of Crete
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| URI | http://purl.tuc.gr/dl/dias/E4BDD947-9129-424A-B206-018347AF6B08 | - |
| Identifier | https://doi.org/10.1109/MED.2011.5983145 | - |
| Language | en | - |
| Extent | 6 pages | en |
| Title | A generic framework for scalable and convergent multi-robot active simultaneous localization, mapping and target tracking | en |
| Creator | Rovas Dimitrios | en |
| Creator | Ροβας Δημητριος | el |
| Creator | K. Aboudolas | en |
| Creator | L. Doitsidis | en |
| Creator | E.B. Kosmatopoulos | en |
| Creator | S.I Roumeliotis | en |
| Publisher | Institute of Electrical and Electronics Engineers | en |
| Content Summary | In this paper, a new approach is proposed and analyzed for developing efficient and scalable methodologies for multi-robot active Cooperative Simultaneous Localization And Mapping and Target Tracking (C-SLAMTT). The proposed approach employs an active estimation scheme that switches among linear elements and, as a result, its computational requirements scale linearly with the number of estimated quantities (number of number of robots, landmarks and targets). The parameters of the proposed scheme are calculated off-line using a convex optimization algorithm which is based on Semi Definite Programming (SDP) and approximation using Sum-of-Squares (SoS) polynomials. As shown by rigorous arguments, the estimation accuracy of the proposed scheme is equal to the optimal estimation accuracy plus a term that is inversely proportional to the number of estimator's switching elements (or, equivalently, to the memory storage capacity of the robots' equipment). The proposed approach can handle various types of constraints such as "stay-within-an-area", obstacle avoidance and maximum speed constraints. The efficiency of the approach is demonstrated on a 3D active cooperative simultaneous mapping and target tracking application employing flying robots. | en |
| Type of Item | Αφίσα σε Συνέδριο | el |
| Type of Item | Conference Poster | en |
| License | http://creativecommons.org/licenses/by/4.0/ | en |
| Date of Item | 2015-10-17 | - |
| Date of Publication | 2011 | - |
| Subject | Robot programming | en |
| Subject | robots programming | en |
| Subject | robot programming | en |
| Bibliographic Citation | E.B. Kosmatopoulos, D.V. Rovas, L. Doitsidis, K. Aboudolas, S.I. Roumeliotis ,"A generic framework for scalable and convergent multi-robot active simultaneous localization, mapping and target tracking,"in 2011 19th Medit. Conf. on Control and Aut. (MED) ,pp.151 - 156.doi:10.1109/MED.2011.5983145 | en |
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