"Towards Gaussian Multi-Robot SLAM for Underwater Robotics" by Dave Kroetsch and Christopher M. Clark
 

Abstract

This paper presents initial steps towards developing autonomous navigation capabilities for cooperating underwater robots. Specifically, Simultaneous Localization and Mapping, or SLAM, capabilities are investigated for a group of micro vehicles each equipped with a single downward facing camera and an Inertial Measurement Unit (IMU). To verify the approach, simulations of the multi-robot SLAM running in a 3D environment were conducted, where vehicles in close proximity of one another exchange maps to improve localization.

Disciplines

Computer Sciences

Number of Pages

11

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URL: https://digitalcommons.calpoly.edu/csse_fac/82