Estimating uncertain spatial relationships in robotics
Autonomous robot vehicles
Fastslam: a factored solution to the simultaneous localization and mapping problem with unknown data association
Convex Optimization
Distributed Cooperative Outdoor Multirobot Localization and Mapping
Autonomous Robots
Multi-robot exploration of an unknown environment, efficiently reducing the odometry error
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
Localization methods for a mobile robot in urban environments
IEEE Transactions on Robotics
Performance analysis of multirobot Cooperative localization
IEEE Transactions on Robotics
Optimal sensor scheduling for resource-constrained localization of mobile robot formations
IEEE Transactions on Robotics
Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain
Robotics and Autonomous Systems
A “thermodynamic” approach to multi-robot cooperative localization
Theoretical Computer Science
A "Thermodynamic" approach to multi-robot cooperative localization with noisy sensors
ANTS'12 Proceedings of the 8th international conference on Swarm Intelligence
C2TAM: A Cloud framework for cooperative tracking and mapping
Robotics and Autonomous Systems
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In this paper we study the time evolution of the position estimates' covariance in Cooperative Simultaneous Localization and Mapping (C-SLAM), and obtain analytical upper bounds for the positioning uncertainty. The derived bounds provide descriptions of the asymptotic positioning performance of a team of robots in a mapping task, as a function of the characteristics of the proprioceptive and exteroceptive sensors of the robots, and of the graph of relative position measurements recorded by the robots. A study of the properties of the Riccati recursion, which describes the propagation of uncertainty through time, yields (i) the guaranteed accuracy for a robot team in a given C-SLAM application, as well as (ii) the maximum expected steady-state uncertainty of the robots and landmarks, when the spatial distribution of features in the environment can be modeled by a known distribution. The theoretical results are validated both in simulation and experimentally.