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Decentralized certainty grid maps

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3 Author(s)
Makarenko, A.A. ; ARC Centre of Excellence in Autonomous Syst., Sydney Univ., NSW, Australia ; Williams, S.B. ; Durrant-Whyte, H.F.

This work is concerned with mapping of indoor environment by a team of robots who share the information they gather to build a global representation of the environment in a consistent, efficient, and scalable way. The well known approach of Decentralized Data Fusion is applied to a widely used representation of Certainty Grid maps. The result is a scalable and intuitive algorithm for combining observations from multiple heterogeneous sensing platforms with built-in processing and communication capabilities. The platforms are assumed to have access to external localization. Results of realistic simulations are presented.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003