%0 Journal Article %1 JINT2016 %A Koch, P. %A May, S. %A Schmidpeter, M. %A Kühn, M. %A Pfitzner, C. %A Merkl, C. %A Koch, R. %A Fees, M. %A Martin, J. %A Nüchter, A. %D 2016 %J Journal of Intelligent and Robotic Systems %K imported %N 3 %P 409--428 %R 10.1007/s10846-016-0375-7 %T Multi-Robot Localization and Mapping based on Signed Distance Functions %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/jirs2016.pdf %V 83 %X This publication describes a 2D Simultaneous Localization and Mapping approach applicable to multiple mobile robots. The presented strategy uses data of 2D LIDAR sensors to build a dynamic representation based on Signed Distance Functions. Novelties of the approach are a joint map built in parallel instead of occasional merging of smaller maps and the limited drift localization which requires no loop closure detection. A multi-threaded software architecture performs registration and data integration in parallel allowing for drift-reduced pose estimation of multiple robots. Experiments are provided demonstrating the application with single and multiple robot mapping using simulated data, public accessible recorded data, two actual robots operating in a comparably large area as well as a deployment of these units at the Robocup rescue league.

@article{JINT2016, abstract = {This publication describes a 2D Simultaneous Localization and Mapping approach applicable to multiple mobile robots. The presented strategy uses data of 2D LIDAR sensors to build a dynamic representation based on Signed Distance Functions. Novelties of the approach are a joint map built in parallel instead of occasional merging of smaller maps and the limited drift localization which requires no loop closure detection. A multi-threaded software architecture performs registration and data integration in parallel allowing for drift-reduced pose estimation of multiple robots. Experiments are provided demonstrating the application with single and multiple robot mapping using simulated data, public accessible recorded data, two actual robots operating in a comparably large area as well as a deployment of these units at the Robocup rescue league.}, added-at = {2017-09-19T13:40:53.000+0200}, author = {Koch, P. and May, S. and Schmidpeter, M. and Kühn, M. and Pfitzner, C. and Merkl, C. and Koch, R. and Fees, M. and Martin, J. and N{\"u}chter, A.}, biburl = {https://www.bibsonomy.org/bibtex/25437ea22bf4217e080b3b57d70dde0dd/nuechter76}, doi = {10.1007/s10846-016-0375-7}, interhash = {5e983d57b76ab7a2f5b4bc8e5287d435}, intrahash = {5437ea22bf4217e080b3b57d70dde0dd}, journal = {Journal of Intelligent and Robotic Systems}, keywords = {imported}, month = {September}, number = 3, pages = {409--428}, timestamp = {2017-09-29T15:54:26.000+0200}, title = {{Multi-Robot Localization and Mapping based on Signed Distance Functions}}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/jirs2016.pdf}, volume = 83, year = 2016 }