The DOI matches its Crossref record; 7 of the 7 references it cites were found in a registry or an index.
A Probabilistic On-Line Mapping Algorithm for Teams of Mobile Robots
Abstract
An efficient probabilistic algorithm for the concurrent mapping and localization problem that arises in mobile robotics is presented. The algorithm addresses the problem in which a team of robots builds a map on-line while simultaneously accommodating errors in the robots’ odometry. At the core of the algorithm is a technique that combines fast maximum likelihood map growing with a Monte Carlo localizer that uses particle representations. The combination of both yields an on-line algorithm that can cope with large odometric errors typically found when mapping environments with cycles. The algorithm can be implemented in a distributed manner on multiple robot platforms, enabling a team of robots to cooperatively generate a single map of their environment. Finally, an extension is described for acquiring three-dimensional maps, which capture the structure and visual appearance of indoor environments in three dimensions.
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Cites
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A New Approach to Linear Filtering and Prediction Problems
Kalman, R. E. (1960) · Journal of Basic Engineering · doi:10.1115/1.3662552 · Cited by 31,751
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Rabiner, L. R. (1989) · Proceedings of the IEEE · doi:10.1109/5.18626 · Cited by 22,743
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Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
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Cited by
Coordinated multi-robot exploration
Burgard, W., Moors, M., Stachniss, C., & Schneider, F. E. (2005) · IEEE Transactions on Robotics · doi:10.1109/tro.2004.839232 · Cited by 1,177
Grisetti, G., Stachniss, C., & Burgard, W. (2005) · Proceedings of the 2005 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2005.1570477 · Cited by 734
Model based vehicle detection and tracking for autonomous urban driving
Petrovskaya, A., & Thrun, S. (2009) · Autonomous Robots · doi:10.1007/s10514-009-9115-1 · Cited by 430
Self-citationDistributed Multirobot Exploration and Mapping
Fox, D., Ko, J., Konolige, K., Limketkai, B., Schulz, D., & Stewart, B. (2006) · Proceedings of the IEEE · doi:10.1109/jproc.2006.876927 · Cited by 344
Multiple-Robot Simultaneous Localization and Mapping: A Review
Saeedi, S., Trentini, M., Seto, M., & Li, H. (2016) · Journal of Field Robotics · doi:10.1002/rob.21620 · Cited by 324
Metadata
- Authors
- Thrun, S.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2001-05
- Volume
- 20
- Issue
- 5
- Pages
- 335-363
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2159477781
- Cited by
- 489
- References
- 7
- FWCI
- 81.98
- Type
- journal article
- Language
- en
- Open access
- closed
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