A Line Of Sight approach for Multi-agent SLAM

Aviran Ilan David, Oded Median, Shlomi Hacohen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents an algorithm for Simultaneous Localization and Mapping (SLAM) by a multi agent system, for the spatial and planar cases. At each time step the agents' positions are calculated relative to a single or a set of landmarks. Alternatively, positions can be calculated relative to agents with known positions. Each pair of agents which are in a line-of-sight-position helps the mapping task by "coloring" a segment in the obstacle-free-workspace in addition to the agents' trajectories. Here, unlike traditional SLAM, the localization procedure is independent to the mapping. We present simulation results for the SLAM and show the advantage of using multi agent system for such tasks. In addition, we exemplify our approach using low-cost-opticsensors, placed on an omni wheeled platform and show the positioning accuracy.

Original languageAmerican English
Title of host publication2019 IEEE 7th International Conference on Control, Mechatronics and Automation, ICCMA 2019
Pages454-458
Number of pages5
ISBN (Electronic)9781728137872
DOIs
StatePublished - 1 Nov 2019
Event7th IEEE International Conference on Control, Mechatronics and Automation, ICCMA 2019 - Delft, Netherlands
Duration: 6 Nov 20198 Nov 2019

Publication series

Name2019 IEEE 7th International Conference on Control, Mechatronics and Automation, ICCMA 2019

Conference

Conference7th IEEE International Conference on Control, Mechatronics and Automation, ICCMA 2019
Country/TerritoryNetherlands
CityDelft
Period6/11/198/11/19

Keywords

  • SLAM
  • multi-agents
  • swarm

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

Cite this