Abstract
Map-merging technique is a well-studied and challenging domain in the field of autonomous mobile robotics. It is not always possible to create a map only using a single robot. Thus, the most common practice is to collect maps of individual robots of the region it has been able to reveal, also known as sub-maps and merge all of them to create a single map. In this paper, we propose an algorithm for merging sub-maps acquired from different autonomous mobile robots. We also show that the merging of the maps is dependent on the degrees of freedom of the robots.
The authors are grateful to Dr. Ankur Mandal, IISER Mohali, Department of Physics for his valuable suggestions with the mathematics of the map-merging process.
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Mandal, A., Mandal, C.K. (2021). Map Merging for an Autonomous Multi-robotic System. In: Hassanien, A.E., Bhattacharyya, S., Chakrabati, S., Bhattacharya, A., Dutta, S. (eds) Emerging Technologies in Data Mining and Information Security. Advances in Intelligent Systems and Computing, vol 1286. Springer, Singapore. https://doi.org/10.1007/978-981-15-9927-9_17
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DOI: https://doi.org/10.1007/978-981-15-9927-9_17
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