| Publisher | University Of Sydney | ||
|---|---|---|---|
| Format | 190.3KB PDF | Date added | 22 May 2003 |
| Topics | Bandwidth Issues | ||
| Downloads | 3 | ||
This paper addresses the problem of Simultaneous Localization And Mapping (SLAM) for teams of collaborating vehicles where the communication bandwidth is limited. They 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. They show that the communication scheme preserves the consistency, which has important ramifications for data association problems. They also provide experimental results that illustrate the effectiveness of the approach in comparison with previous techniques.
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