Research Group on the Foundations of Artificial Intelligence

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2008

• Dali Sun, Alexander Kleiner and T. M. Wendt.
  Multi-Robot Range-Only SLAM by Active Sensor Nodes for Urban Search and Rescue.
  In Robocup 2008: Robot Soccer World Cup XII. Springer 2008.
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  To jointly map an unknown environment with a team of autonomous robots is a challenging problem, particularly in large environments, as for example the devastated area after a disaster. Under such conditions standard methods for Simultaneous Localization And Mapping (SLAM) are difficult to apply due to possible misinterpretations of sensor data, leading to erroneous data association for loop closure. We consider the problem of multi-robot range-only SLAM for robot teams by solving the data association problem with wireless sensor nodes that we designed for this purpose. The memory of these nodes is utilized for the exchange of map data between multiple robots, facilitating loop-closures on jointly generated maps. We introduce RSLAM, which is a variant of FastSlam, extended for range-only measurements and the multi-robot case. Maps are generated from robot odometry and range estimates, which are computed from the RSSI (Received Signal Strength Indication). The proposed method has been extensively tested in USARSim, which serves as basis for the Virtual Robots competition at RoboCup, and by real-world experiments with a team of mobile robots. The presented results indicates that the approach is capable of building consistent maps in presence of real sensor noise, as well as to improve mapping results of multiple robots by data sharing.

2007

• Alexander Kleiner, Christian Dornhege and Dali Sun.
  Mapping disaster areas jointly: RFID-Coordinated SLAM by Humans and Robots.
  In Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR 2007). Rome, Italy 2007.
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• Alexander Kleiner and Dali Sun.
  Decentralized SLAM for Pedestrians without direct Communication.
  In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007). San Diego, California 2007.
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