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dc.contributor.authorCunningham, Alexander
dc.contributor.authorIndelman, Vadim
dc.contributor.authorDellaert, Frank
dc.date.accessioned2016-05-17T18:18:08Z
dc.date.available2016-05-17T18:18:08Z
dc.date.issued2012-11
dc.identifier.citationCunningham, A.; Indelman, V.; & Dellaert, F. (2012). Consistent Decentralized Graphical SLAM with Anti-factor Down-dating. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), November 2012, pp. 1-2.en_US
dc.identifier.isbn978-1-4799-0164-7
dc.identifier.urihttp://hdl.handle.net/1853/54823
dc.description© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionIEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), November 5-8, 2012, College Station, TX.
dc.descriptionDOI: 10.1109/SSRR.2012.6523910
dc.description.abstractThis report presents our recent and ongoing work developing a consistent decentralized data fusion approach for robust multi-robot SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our previous work by combining local and neighborhood information in a single, consistent augmented local map, without the overly conservative to avoiding information double-counting in the previous DDF-SAM approach. We introduce the anti-factor as a means to subtract information in graphical SLAM systems, and illustrate its use to both replace information in an incremental solver and to cancel out neighborhood information from shared summarized maps. Evaluations in a synthetic example environment demonstrate that we avoid double-counting information.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectDistributed robot systemsen_US
dc.subjectNetworked robotsen_US
dc.subjectSimultaneous localization and mappingen_US
dc.subjectSLAMen_US
dc.titleConsistent Decentralized Graphical SLAM with Anti-Factor Down-Datingen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computingen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Interactive Computingen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/SSRR.2012.6523910
dc.embargo.termsnullen_US


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