Large-scale simultaneous localization and mapping for teams of mobile robots

Robert George Reid

    Research output: ThesisDoctoral Thesis

    623 Downloads (Pure)

    Abstract

    Simultaneous localization and mapping (SLAM) is a core technology that is required for teams of mobile robots to cooperate in everyday environments. This thesis proposes a multi-robot SLAM architecture that enables multiple robots to operate both indoors and outdoors, using only onboard sensors, and without GPS or pre-existing maps. It contributes robust and efficient algorithms that share sensor data between robots and distributes the SLAM back-end computation, while allowing teams to operate for periods independent of a centralized server. The architecture and algorithms are demonstrated In real-world conditions, with up to 23 heterogeneous robots exploring a 500x500 meter urban environment.
    Original languageEnglish
    QualificationDoctor of Philosophy
    Awarding Institution
    • The University of Western Australia
    Award date29 Jul 2016
    Publication statusUnpublished - 2016

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