Performance bounds for cooperative simultaneous localization and mapping (C-SLAM)

Anastasios I. Mourikis, Stergios Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Scopus citations

Abstract

In this paper we study the time evolution of the position estimates' covariance in Cooperative Simultaneous Localization and Mapping (C-SLAM), and obtain analytical upper bounds for the positioning uncertainty. The derived bounds provide descriptions of the asymptotic positioning performance of a team of robots in a mapping task, as a function of the characteristics of the proprioceptive and exteroceptive sensors of the robots, and of the graph of relative position measurements recorded by the robots. A study of the properties of the Riccati recursion which describes the propagation of uncertainty through time, yields (i) the guaranteed accuracy for a robot team in a given C-SLAM application, as well as (ii) the maximum expected steady-state uncertainty of the robots and landmarks, when the spatial distribution of features in the environment can be modeled by a known distribution. The theoretical results are validated by simulation experiments.

Original languageEnglish (US)
Title of host publicationRobotics
Subtitle of host publicationScience and Systems I
EditorsSebastian Thrun, Gaurav Sukhatme, Stefan Schaal, Oliver Brock
PublisherMIT Press Journals
Pages73-80
Number of pages8
ISBN (Print)9780262701143
StatePublished - Jan 1 2005
EventInternational Conference on Robotics: Science and Systems, RSS 2005 - Cambridge, United States
Duration: Jun 8 2005Jun 11 2005

Publication series

NameRobotics: Science and Systems
Volume1
ISSN (Print)2330-7668
ISSN (Electronic)2330-765X

Other

OtherInternational Conference on Robotics: Science and Systems, RSS 2005
CountryUnited States
CityCambridge
Period6/8/056/11/05

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  • Cite this

    Mourikis, A. I., & Roumeliotis, S. (2005). Performance bounds for cooperative simultaneous localization and mapping (C-SLAM). In S. Thrun, G. Sukhatme, S. Schaal, & O. Brock (Eds.), Robotics: Science and Systems I (pp. 73-80). (Robotics: Science and Systems; Vol. 1). MIT Press Journals.