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dc.contributor.advisorJohn Leonard.en_US
dc.contributor.authorKim, Beenen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.en_US
dc.date.accessioned2010-10-29T18:10:31Z
dc.date.available2010-10-29T18:10:31Z
dc.date.copyright2010en_US
dc.date.issued2010en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/59680
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2010.en_US
dc.descriptionCataloged from PDF version of thesis.en_US
dc.descriptionIncludes bibliographical references (p. 75-78).en_US
dc.description.abstractThis thesis describes a new representation and algorithm for cooperative and persistent simultaneous localization and mapping (SLAM) using multiple robots. Recent pose graph representations have proven very successful for single robot mapping and localization. Among these methods, iSAM (incremental smoothing and mapping) gives an exact incremental solution to the SLAM problem by solving a full nonlinear optimization problem in real-time. In this paper, we present a novel extension to iSAM to facilitate multi-robot mapping based on multiple pose graphs. Our main contribution is a relative formulation of the relationship between multiple pose graphs. Our formulation avoids the initialization problem and leads to an efficient solution when compared to a completely global solution. Efficient access to covariances at any time for relative parameters is also provided, facilitating data association and loop closing. Each individual pose graph still uses a global parameterization, so that the overall system provides a globally consistent multi-robot solution. The performance of the technique is illustrated on a publicly available multi-robot data set as well as other data including a helicopter-ground robot combination.en_US
dc.description.statementofresponsibilityby Been Kim.en_US
dc.format.extent78 p.en_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectAeronautics and Astronautics.en_US
dc.titleMultiple relative pose graphs for cooperative mappingen_US
dc.title.alternativeMultiple relative pose graphs for robust cooperative mappingen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics
dc.identifier.oclc668228021en_US


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