Abstract
Our objective is to develop a team of autonomous mobile robots that are able to operate in previously unfamiliar outdoor environments. In these environments, the robot teams should be able to cooperatively localize even when DGPS is not consistently available, to autonomously generate rough elevation maps of their terrain, and to use these generated maps to plan multi-robot paths that enable them to accomplish their mission objective, such as reconnaissance and surveillance or perimeter security. This paper briefly outlines our approaches to achieving this objective, along with some of our implementation results on our team of four ATRV-mini mobile robots.
Research performed while author visited ORNL.
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.
References
Fregene, K., Madhavan, R., and Parker, L. E. (2002). Incremental multiagent robotic mapping of outdoor terrains. In Proceedings of IEEE International Conference on Robotics and Automation.
Guo, Y. and Parker, L. E. (2002). A distributed and optimal motion planning approach for multiple mobile robots. In Proceedings of IEEE International Conference on Robotics and Automation.
Matthies, L., Kanade, T., and Szelinski, R. (1989). Kalman Filter-based Algorithms for Estimat- ing Depth from Image Sequences. International Journal of Computer Vision, 3: 209–236.
Madhavan, R., Fregene, K., and Parker, L. E. (2002). Distributed heterogenous outdoor multi-robot localization. In Proceedings of IEEE International Conference on Robotics and Automation.
Roumeliotis, S. and Bekey, G. (2000). Distributed Multi-Robot Localization. In Distributed Autonomous Robotic Systems - Chapter 6: Localization,pages 179–188. Springer-Verlag.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer Science+Business Media Dordrecht
About this paper
Cite this paper
Parker, L.E., Fregene, K., Guo, Y., Madhavan, R. (2002). Distributed Heterogeneous Sensing for Outdoor Multi-Robot Localization, Mapping, and Path Planning. In: Schultz, A.C., Parker, L.E. (eds) Multi-Robot Systems: From Swarms to Intelligent Automata. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-2376-3_3
Download citation
DOI: https://doi.org/10.1007/978-94-017-2376-3_3
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6046-4
Online ISBN: 978-94-017-2376-3
eBook Packages: Springer Book Archive