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Cooperative Localisation and Mapping

By Andrew Howard and Les Kitchen

Abstract

Recently, many authors have considered the problem of simultaneous localisation and mapping (SLAM). The paper addresses a somewhat different problem, that of cooperative localisation and mapping (CLAM). Basically, the CLAM approach involves two or more robots cooperating to build a map of the environment. This cooperation is not aimed at simply increasing the speed with which the map is constructed; rather, it is aimed at increasing the accuracy of the resultant maps. This paper describes some early work aimed at validating the CLAM concept. 1 Introduction Recently, many authors have considered the problem of simultaneous localisation and mapping (SLAM). The paper addresses a somewhat different problem, that of cooperative localisation and mapping (CLAM). The aim of SLAM, as opposed to CLAM, is to build a map of an unknown environment and simultaneously localise the robot with respect to this map. The map might be relational, or it might be defined with respect to some coordinate sy..

Year: 1999
OAI identifier: oai:CiteSeerX.psu:10.1.1.41.9683
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