Cart (Loading....) | Create Account
Close category search window
 

An efficient strategy for data exchange in multi-robot mapping under underwater communication constraints

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Pfingsthorn, M. ; Robot. Group, Jacobs Univ. Bremen, Bremen, Germany ; Birk, A. ; Bulow, H.

The online generation of underwater image maps or mosaicking is of high interest for underwater robots, e.g., for autonomous navigation, exploration, or object detection. Here, a cooperative approach is presented that addresses the particular challenges of the severe constraints on communication bandwidth in the underwater domain. Concretely, a special update strategy for a cooperatively maintained pose graph as basis for Simultaneous Localization and Mapping (SLAM) is introduced. The strategy tries to transmit the most relevant information within the limits of the communication bandwidth to maximize the quality of the cooperative map. It is shown in experiments with simulations based on real world data that the strategy leads to near optimal results while obeying the severe bandwidth constraints of realistic underwater communication.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.