DDF-SAM: Fully distributed SLAM using Constrained Factor Graphs

• Published in: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3025 - 3030
• Main Authors: Cunningham, A, Paluri, M, Dellaert, F
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2010
• Subjects: Equations; Mathematical model; Optimization; Robot kinematics; Simultaneous localization and mapping

We address the problem of multi-robot distributed SLAM with an extended Smoothing and Mapping (SAM) approach to implement Decentralized Data Fusion (DDF). We present DDF-SAM, a novel method for efficiently and robustly distributing map information across a team of robots, to achieve scalability in c...