Localization and Mapping
Spletzer and C.J.
and Mapping (SLAM) poses a tremendous challenge to a single robot. However,
sharing information amongst a team of robots can greatly simplify the
Using a team of Clodbusters (CBs), a global map of the environment can
be generated up to a scale factor. With a minimum team size of 3 robots,
localization of each in 3D space is possible. This is accomplished by
using azimuth and elevation information obtained from the CB omnicams.
With this relative information from each platform, localization for
each can be accomplished using triangulation. Each team member can then
augment a portion of the global map with its local map information.
A summary briefing
on our initial exercise - SLAM with a 3-robot team and using a ground
plane constraint - can be found here.
Mapping results will follow soon.