Parallel and distributed map merging and localization
著者
書誌事項
Parallel and distributed map merging and localization
（SpringerBriefs in computer science）
Springer, 2015
- pbk.
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内容説明・目次
内容説明
This work examines the challenges of distributed map merging and localization in multi-robot systems, which enables robots to acquire the knowledge of their surroundings needed to carry out coordinated tasks. After identifying the main issues associated with this problem, each chapter introduces a different distributed strategy for solving them.
In addition to presenting a review of distributed algorithms for perception in localization and map merging, the text also provides the reader with the necessary tools for proposing new solutions to problems of multi-robot perception, as well as other interesting topics related to multi-robot scenarios.
The coverage is largely self-contained, supported by numerous explanations and demonstrations, although references for further study are also supplied. The reader will not require any prior background knowledge, other than a basic understanding of mathematics at a graduate-student level.
目次
Introduction
Distributed Data Association
Distributed Localization
Map Merging
Real Experiments
Conclusions
Appendix A: Averaging Algorithms and Metropolis Weights
Appendix B: Auxiliary Results for Distributed Localization
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