%0 Conference Paper %1 ICARSC2015 %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. %B Proceedings of the IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC '15) %C Vila Real, Portugal %D 2015 %K imported %P 77--82 %R 10.1109/ICARSC.2015.18 %T Multi-Robot Localization and Mapping based on Signed Distance Functions %U https://robotik.informatik.uni-wuerzburg.de/telematics/download/icarsc2015.pdf %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. 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 as well as two actual robots operating in a comparably large area.

@inproceedings{ICARSC2015, 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. 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 as well as two actual robots operating in a comparably large area.}, added-at = {2017-09-19T13:40:53.000+0200}, address = {Vila Real, Portugal}, author = {Koch, P. and May, S. and Schmidpeter, M. and K{\"u}hn, 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/22d8147149bbbe386b8601779cbcf3670/nuechter76}, booktitle = {Proceedings of the IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC '15)}, doi = {10.1109/ICARSC.2015.18}, interhash = {82b3361e60a6eb5d68f32a45bff78d19}, intrahash = {2d8147149bbbe386b8601779cbcf3670}, keywords = {imported}, month = {April}, pages = {77--82}, timestamp = {2017-09-29T16:01:21.000+0200}, title = {{Multi-Robot Localization and Mapping based on Signed Distance Functions}}, url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/icarsc2015.pdf}, year = 2015 }