A novel low-cost, limited-resource approach to autonomous multi-robot exploration and mapping

Gifford, Chris; Webb, Russell Y.; J, Bley; Leung, Daniel; Calnon, M.; Makarewicz, Joseph; Banz, Bryan; Agah, Arvin

doi:10.1016/j.robot.2009.09.014

Cited by 20 publications

(11 citation statements)

References 10 publications

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“…The main drawback of this method is that it usually fails when there are fewer similar patterns in both maps. The method proposed in [9] is based on the solution proposed in [8], except that individual robots are using Distributed Particle SLAM (DP-SLAM) version 2.0 [10] for filtering. The method proposed in [8] and used in [9] is a highly time consuming algorithm.…”

Section: A Map Merging With View Based Slammentioning

confidence: 99%

“…This is problematic especially for the large scale maps which are a typical problem in indoor environments. In [9] maps are updated by applying a simple rule: the minimum occupancy grid value between the two maps is used for merging. A similar method is proposed in [11] with simulated annealing and hill climbing used to merge maps.…”

Section: A Map Merging With View Based Slammentioning

confidence: 99%

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Map merging using hough peak matching

Saeedi

Paull

Trentini

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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One of the major problems for multi-robot SLAM is that the robots only know their positions in their own local coordinate frames, so fusing map data can be challenging. In this research, the mapping process is extended to multiple robots with a novel occupancy grid map fusion algorithm. Map fusion is achieved by transforming individual maps into the Hough space where they are represented in an abstract form. Properties of the Hough transform are used to find the common regions in the maps, which are then used to calculate the unknown transformation between the maps.Results are shown from tests performed on benchmark data sets and real-world experiments with multiple robotic platforms.

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Section: A Map Merging With View Based Slammentioning

confidence: 99%

Section: A Map Merging With View Based Slammentioning

confidence: 99%

Map merging using hough peak matching

Saeedi

Paull

Trentini

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…After the navigation can be visible the path [4], [5], [6]. The robot car has an incremental encoder.…”

Section: Visualize the Unknown Pathmentioning

confidence: 99%

Differences between Kinect and structured lighting sensor in robot navigation

Csaba

Somlyai

Vamossy

2012

2012 IEEE 10th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

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Nowadays, autonomous navigation is getting more and more attention. The mobile robots need to have map of the close environment. The paper presents how can collect information about the environment for robot navigation. The sensors and the navigation system are installed on a mobile equipment platform. After this the article shows the different measurement systems, the generating virtual depth map and the navigation algorithm. At the end the Kinect sensor is compared with a sensor based on structured light.

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“…[8][9][10] Therefore, the inspection method of high-voltage transmission line based on UAV has been paid more and more attention. [8][9][10] Therefore, the inspection method of high-voltage transmission line based on UAV has been paid more and more attention.…”

mentioning

confidence: 99%

“…the transmission line to find and eliminate potential hazards as early as possible. [8][9][10] Therefore, the inspection method of high-voltage transmission line based on UAV has been paid more and more attention. 11 Path planning is to provide optimal path for drivers, and it is an important part of AI technology, intelligent robot, and intelligent transportation technology.…”

mentioning

confidence: 99%

A random chemical reaction optimization algorithm based on dual containers strategy for multi‐rotor UAV path planning in transmission line inspection

Yang

Zhang

2018

Concurrency and Computation

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Aiming at the specific mission requirements of high-voltage transmission line inspection, a modeling method based on columnar space is proposed, which simplifies the complexity of traditional methods to a certain extent, and ensures enough modeling accuracy. Then, an improved random chemical reaction algorithm based on dual container strategy (RMCRO) is proposed, and the new algorithm divides the set of molecules into two subsets and puts them into two reaction containers, respectively. A subset introducing PSO algorithm strategy strengthens the strategy of diversity algorithm molecules and enhances the global search capability of the algorithm. Additionally, another subset introducing elitist selection and differential strategy strengthens the local search ability of the algorithm and accelerates the convergence speed. Then, through the exchange of the two subsets under certain conditions, the advantages of the two subsets can be further integrated to eliminate the original defects. Finally, respectively analyze the simulation of two typical scenarios of transmission line inspection based on multi-rotor UAV, the simulation results show that the proposed algorithm can avoid the local minimum, the path planning is shorter, and it can make the airborne camera equipment working in a more stable state. KEYWORDS chemical reaction algorithm, path planning, UAV 1 INTRODUCTION Electricity plays a more and more important role in various areas of our social life. The key problem in power system management is to ensure the stability of the power equipment and the safe operation of the electric power system. 1 Because of long-term exposure to the external environment, transmission line towers and insulator strings are affected by human factors, bad weather, mechanical tension and electrical flashover, material aging, and other reasons. Moreover, they all may cause the line breaking and cracking, corrosion, and other damage. If timely maintenancesare not carried out, it will affect strictly normal operation of heavy power, and even cause blackout serious accidents and safety hazards. 2 Therefore, in order to ensure the safe operation of transmission lines, it is necessary to conduct regular inspections of transmission lines, understand the operation status of transmission lines, and eliminate potential dangers, which is very important for ensuring the safe and normal operation of transmission lines. [3][4][5] Conventional inspection of transmission lines is the most important and effective measure to ensure the safe operation of the power grid. Due to the current high-voltage transmission lines that generally pass through mountains and lakes, the traditional manual inspection mode not only has a large amount of work but also cannot effectively protect the life of patrol personnel. Moreover, the transmission lines are all located in the field, and there are many "blind areas" for patrol inspection. 6,7 In recent years, the transmission line inspection mode based on UAV has come into being. In addition, the transmission line in...

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A novel low-cost, limited-resource approach to autonomous multi-robot exploration and mapping

Cited by 20 publications

References 10 publications

Map merging using hough peak matching

Map merging using hough peak matching

Differences between Kinect and structured lighting sensor in robot navigation

A random chemical reaction optimization algorithm based on dual containers strategy for multi‐rotor UAV path planning in transmission line inspection

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