Abstract
This paper addresses the problem of simultaneous localization and mapping (SLAM) for teams of collaborating vehicles where the communication bandwidth is limited. We present a novel SLAM algorithm that enables multiple vehicles to acquire a joint map, but which can cope with arbitrary latency and bandwidth limitations such as typically found in airborne vehicle applications. The key idea is to represent maps in information form (negative log-likelihood), and to selectively communicate subsets of the information tailored to the available communication resources. We show that our communication scheme preserves the consistency, which has important ramifications for data association problems. We also provide experimental results that illustrate the effectiveness of our approach in comparison with previous techniques.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Nettleton, E., Thrun, S., Durrant-Whyte, H., Sukkarieh, S. (2006). Decentralised SLAM with Low-Bandwidth Communication for Teams of Vehicles. In: Yuta, S., Asama, H., Prassler, E., Tsubouchi, T., Thrun, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 24. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991459_18
Download citation
DOI: https://doi.org/10.1007/10991459_18
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-32801-8
Online ISBN: 978-3-540-32854-4
eBook Packages: EngineeringEngineering (R0)