Open AccessMulti‐hypothesis map merging with sinogram‐based PSO for multi‐robot systems
Author(s) -
Lee H.C.,
Roh B.S.,
Lee B.H.
Publication year - 2016
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2016.1041
Subject(s) - merge (version control) , robot , artificial intelligence , particle swarm optimization , computer science , maxima and minima , computer vision , algorithm , mathematics , mathematical analysis , information retrieval
Multi‐robot map merging without inter‐robot observations, common landmarks, and the knowledge of initial relative poses is a challenging problem due to lack of features or local maxima. This Letter proposes a multi‐hypothesis map merging algorithm with sinogram‐based particle swarm optimisation to solve the problem. Experimental results show that the proposed algorithm can merge individual robot maps much more accurately than the existing algorithms.