Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems

摘要

In this paper we investigate the problem of Simultaneous Localization and Mapping (SLAM) for a multi robot system. Relaxing some assumptions that characterize related work we propose an application of Rao-Blackwellized Particle Filters (RBPF) for the purpose of cooperatively estimating SLAM posterior. We consider a realistic setup in which the robots start from unknown initial poses (relative locations are unknown too), and travel in the environment in order to build a shared representation of the latter. The robots are required to exchange a small amount of information only when a rendezvous event occurs and to measure relative poses during the meeting. As a consequence the approach also applies when using an unreliable wireless channel or short range communication technologies (bluetooth, RFId, etc.). Moreover it allows to take into account the uncertainty in relative pose measurements. The proposed technique, which constitutes a distributed solution to the multi robot SLAM problem, is further validated through simulations and experimental tests.