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Sustainability 2018, 10(8), 2946; https://doi.org/10.3390/su10082946

SLAM for Humanoid Multi-Robot Active Cooperation Based on Relative Observation

1
Department of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
2
Department of Computer Science, University of Khenchela, Khenchela 40000, Algeria
*
Author to whom correspondence should be addressed.
Received: 26 June 2018 / Revised: 8 August 2018 / Accepted: 10 August 2018 / Published: 20 August 2018
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Abstract

The simultaneous localization and mapping (SLAM) of robot in the complex environment is a fundamental research topic for service robots. This paper presents a new humanoid multi-robot SLAM mechanism that allows robots to collaborate and localize each other in their own SLAM process. Each robot has two switchable modes: independent mode and collaborative mode. Each robot can respond to the requests of other robots and participate in chained localization of the target robot under the leadership of the organiser. We aslo discuss how to find the solution of optimal strategy for chained localization. This mechanism can improve the performance of bundle adjustment at the global level, especially when the image features are few or the results of closed loop are not ideal. The simulation results show that this method has a great effect on improving the accuracy of multi-robot localization and the efficiency of 3D mapping. View Full-Text
Keywords: SLAM; multi-robot system (MRS); humanoid robot; cooperative localization SLAM; multi-robot system (MRS); humanoid robot; cooperative localization
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Pei, Z.; Piao, S.; Souidi, M.E.H.; Qadir, M.Z.; Li, G. SLAM for Humanoid Multi-Robot Active Cooperation Based on Relative Observation. Sustainability 2018, 10, 2946.

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