A Novel Map Merging Methodology for Multi-Robot Systems

2010-10-22
Topal, Sebahattin
Erkmen, İsmet
Erkmen, Aydan Müşerref
In this paper, we consider the problem of occupancy grid map merging which is an important issue especially for multi-robot exploration task in search and rescue environments. We present scale invariant feature transform based methodology for combining individual partial map of robot units acquired from different parts of the mission environment. Proposed approach is designed not only for structured work areas, but also it is designed for unstructured and complex environment such as wide collapsed buildings. The proposed approach handles the limitations of existing works in the literature such as; first, merged robots' maps not required being in the same scale, secondly little overlapped region area between partial maps is enough for good merging performance and finally unstructured partial environment maps can be merged efficiently. The simulation results support the potential of the proposed methodology for occupancy grid map merging task.
World Congress on Engineering and Computer Science (WCECS)/International Conference on Advances in Engineering Technologies

Suggestions

A novel multirobot map fusion strategy for occupancy grid maps
Topal, Sebahattin; Erkmen, İsmet; Erkmen, Aydan Müşerref (2013-01-01)
In this paper, we consider the problem of merging partial occupancy grid environment maps, which are extracted independently by individual robot units during search and rescue (SAR) operations in complex disaster environments. Moreover, these maps are combined using intensity-based and area-based features without knowing the initial position and orientation of the robots. Our proposed approach handles the limitation of existing studies in the literature; for example, the limited overlapped area between part...
A novel mobile robot navigation method based on combined feature based scan matching and fastslam algorithm
Özgür, Ayhan; Saranlı, Afşar; Konukseven, Erhan İlhan; Department of Electrical and Electronics Engineering (2010)
The main focus of the study is the implementation of a practical indoor localization and mapping algorithm for large scale, structured indoor environments. Building an incremental consistent map while also using it for localization is partially unsolved problem and of prime importance for mobile robot navigation. Within this framework, a combined method consisting of feature based scan matching and FastSLAM algorithm using LADAR and odometer sensor is presented. In this method, an improved data association ...
A newly developed seismic microzonation model of Erbaa (Tokat, Turkey) located on seismically active eastern segment of the North Anatolian Fault Zone (NAFZ)
Akin, Muge K.; Topal, Tamer; Kramer, Steven L. (2013-02-01)
A methodology to model seismic microzonation maps is required in the hazard mitigation decision plans of the earthquake prone areas. The stage of disaster preparedness for new residential places is of great importance for detailed seismic microzonation models. The effects of local geological and geotechnical site conditions were considered in order to establish site characterization as the initial stage of the models in this study. Dynamic soil properties based on the empirical correlations between shear wa...
Development of a Tsunami Inundation Map in Detecting Tsunami Risk in Gulf of Fethiye, Turkey
Dilmen, Derya Itir; Kemeç, Serkan; Yalçıner, Ahmet Cevdet; Duzgun, Sebnem; Zaytsev, Andrey (2015-03-01)
NAMIDANCE tsunami simulation and visualization tool is used to create tsunami inundation maps showing quantitative maximum tsunami flow depths in Fethiye. The risk of an extreme, but likely earthquake-generated tsunami is estimated at Fethiye Bay for 14 probabilistic earthquake scenarios. The bay is located 36A degrees 39'5aEuro(3)N 29A degrees 7'23aEuro(3)E, southwestern Turkey, which has coastline to the eastern Mediterranean Sea. The tsunami simulation and inundation assessment are performed in three sta...
A Conditional coverage path planning method for an autonomous lawn mower
Karol, Ardıç; Konukseven, Erhan İlhan; Koku, Ahmet Buğra; Department of Mechanical Engineering (2016)
Randomized and deterministic coverage path planning methods are widely used in autonomous lawn mowers. Random planning cannot guarantee a complete coverage, whereas, many deterministic techniques are not solely eligible for unstructured outdoor environments, since they highly suffer from wheel slippage or numerical drift. Besides, complete coverage techniques either demands high computational power or expensive sensor hardware. A genuine, Conditional Coverage Path Planning (CCPP) method, which satisfies com...
Citation Formats
S. Topal, İ. Erkmen, and A. M. Erkmen, “A Novel Map Merging Methodology for Multi-Robot Systems,” presented at the World Congress on Engineering and Computer Science (WCECS)/International Conference on Advances in Engineering Technologies, San Francisco, CA, 2010, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/52929.