Cooperative FSEIF SLAM of Omnidirectional Mobile Multirobots

  • Ching-Chih TsaiEmail author
  • Ying-Che Lai
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1000)


The paper presents a cooperative fuzzy sparse extended information filtering (FSEIF) method for simultaneous localization and mapping SLAM) of multiple three-wheeled omnidirectional mobile multirobots in a given indoor environment. After brief description of our previous fuzzy SEIF SLAM (FSEIF SLAM) algorithm for a single mobile robot, a cooperative Fuzzy SEIF SLAM approach is presented for a group of omnidirectional mobile multirobots, where the optimal path searching method is devised by incorporating with K-means and Dijkstra algorithm under the assumption of known map and correspondence conditions. The effectiveness and merits of the proposed cooperative FSEIF SLAM in a large-scale environment are well illustrated by carrying out comparative simulations for multiple mobile robots.


Cooperative Fuzzy logics Sparse extended information filtering (SEIF) Omnidirectional mobile robot Simultaneous localization and mapping (SLAM) Swedish wheel 



The authors gratefully acknowledge financial support from the Ministry of Science and Technology (MOST), Taiwan, ROC, under contract MOST 107-2221-E-005 -073-MY2.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Electrical EngineeringNational Chung Hsing UniversityTaichungTaiwan

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