Cooperative map building: An approach to distributed, multi-modal SLAM

Abstract :

The talk will present the work that is currently done towards distributed map-building with teams of mobile robots in the project TransTerrA. A brief explanation of the core concept of graph-based SLAM is followed by an overview of the mapping currently developed at DFKI. It will then discuss why graph-based approaches to the SLAM problem are inherently well suited for cooperation in an heterogeneous team of robots equipped with different types of sensors.