Robust, low-bandwidth, multi-vehicle mapping Export

@inproceedings{Reece2005LowBandwidth, abstract = {This paper addresses the problem of decentralised simultaneous localisation and map building for a team of agents where the communication bandwidth is limited. We present an extension to current approaches that enables multiple vehicles to acquire a joint map, but which can cope with communication bandwidth limitations. Nettleton's approach uses a hybrid information filter/covariance intersection algorithm on each communication link to manage the inter-vehicle communication and ensure that information vehicles share does not get 'double counted'. The covariance intersection algorithm is a highly conservative method for managing double counting and its use can produce highly uncertain maps. We introduce a novel and more efficient tool, called bounded covariance inflation, for managing the double counting (or rumour propagation) problem. We show that the parameters required by the new approach can be determined locally by each vehicle and therefore the decentralised nature of the network is not compromised. We provide experimental results that illustrate the effectiveness of our approach in comparison with the original approach of Nettleton et al., (2003).}, author = {Reece, S. and Roberts, S.}, citeulike-article-id = {4665865}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ICIF.2005.1592009}, doi = {10.1109/ICIF.2005.1592009}, journal = {Information Fusion, 2005 8th International Conference on}, keywords = {algorithm, analysis, approach, bandlimited, bounded, communication, counting, covariance, data, double, file-import-09-05-28, filter, filtering, hybrid, inflation, information, intersection, link, links, management, mapping, multiple, nettletons, telecommunication, vehicle, vehicles}, month = {July}, posted-at = {2009-05-28 12:59:45}, priority = {2}, title = {Robust, low-bandwidth, multi-vehicle mapping}, url = {http://dx.doi.org/10.1109/ICIF.2005.1592009}, volume = {2}, year = {2005} }

TY - CONF ID - Reece2005LowBandwidth L3 - citeulike-article-id:4665865 N2 - This paper addresses the problem of decentralised simultaneous localisation and map building for a team of agents where the communication bandwidth is limited. We present an extension to current approaches that enables multiple vehicles to acquire a joint map, but which can cope with communication bandwidth limitations. Nettleton's approach uses a hybrid information filter/covariance intersection algorithm on each communication link to manage the inter-vehicle communication and ensure that information vehicles share does not get 'double counted'. The covariance intersection algorithm is a highly conservative method for managing double counting and its use can produce highly uncertain maps. We introduce a novel and more efficient tool, called bounded covariance inflation, for managing the double counting (or rumour propagation) problem. We show that the parameters required by the new approach can be determined locally by each vehicle and therefore the decentralised nature of the network is not compromised. We provide experimental results that illustrate the effectiveness of our approach in comparison with the original approach of Nettleton et al., (2003). JF - Information Fusion, 2005 8th International Conference on TI - Robust, low-bandwidth, multi-vehicle mapping VL - 2 KW - algorithm KW - analysis KW - approach KW - bandlimited KW - bounded KW - communication KW - counting KW - covariance KW - data KW - double KW - file-import-09-05-28 KW - filter KW - filtering KW - hybrid KW - inflation KW - information KW - intersection KW - link KW - links KW - management KW - mapping KW - multiple KW - nettletons KW - telecommunication KW - vehicle KW - vehicles AU - Reece, S AU - Roberts, S PY - 2005/July// UR - http://dx.doi.org/10.1109/ICIF.2005.1592009 ER -