Cooperative Localization and Mapping

Practical realization of autonomous multi-vehicle control in feature rich GPS-denied areas requires that agents possess the capability to generate and share maps with detail adequate for successful operation in complex environments. In addition, coordination of behaviors among robotic vehicles in a swarm is greatly enhanced by exploitation of information acquired by all members of the group. The representation of and mechanism for this information exchange and the control algorithms that utilize this information are the key components of autonomous multi-vehicle control. The use of stigmergic potential fields (SPF) and distributed control algorithms to realize adaptive, cooperative behaviors within the context of feature-rich GPS-denied environments is the focus of this paper. Specifically, the described control algorithms have been combined with the leading Simultaneous Localization and Mapping (SLAM) approaches to yield robust multi-robot behaviors including exploration and mapping.