TY - GEN
T1 - A Line Of Sight approach for Multi-agent SLAM
AU - David, Aviran Ilan
AU - Median, Oded
AU - Hacohen, Shlomi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - This paper presents an algorithm for Simultaneous Localization and Mapping (SLAM) by a multi agent system, for the spatial and planar cases. At each time step the agents' positions are calculated relative to a single or a set of landmarks. Alternatively, positions can be calculated relative to agents with known positions. Each pair of agents which are in a line-of-sight-position helps the mapping task by "coloring" a segment in the obstacle-free-workspace in addition to the agents' trajectories. Here, unlike traditional SLAM, the localization procedure is independent to the mapping. We present simulation results for the SLAM and show the advantage of using multi agent system for such tasks. In addition, we exemplify our approach using low-cost-opticsensors, placed on an omni wheeled platform and show the positioning accuracy.
AB - This paper presents an algorithm for Simultaneous Localization and Mapping (SLAM) by a multi agent system, for the spatial and planar cases. At each time step the agents' positions are calculated relative to a single or a set of landmarks. Alternatively, positions can be calculated relative to agents with known positions. Each pair of agents which are in a line-of-sight-position helps the mapping task by "coloring" a segment in the obstacle-free-workspace in addition to the agents' trajectories. Here, unlike traditional SLAM, the localization procedure is independent to the mapping. We present simulation results for the SLAM and show the advantage of using multi agent system for such tasks. In addition, we exemplify our approach using low-cost-opticsensors, placed on an omni wheeled platform and show the positioning accuracy.
KW - SLAM
KW - multi-agents
KW - swarm
UR - https://www.scopus.com/pages/publications/85081056136
U2 - 10.1109/ICCMA46720.2019.8988707
DO - 10.1109/ICCMA46720.2019.8988707
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AN - SCOPUS:85081056136
T3 - 2019 IEEE 7th International Conference on Control, Mechatronics and Automation, ICCMA 2019
SP - 454
EP - 458
BT - 2019 IEEE 7th International Conference on Control, Mechatronics and Automation, ICCMA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on Control, Mechatronics and Automation, ICCMA 2019
Y2 - 6 November 2019 through 8 November 2019
ER -