Robotics: Science and Systems I
Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM)
Anastasios I. Mourikis, Stergios I. RoumeliotisAbstract: 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.
Bibtex:
@INPROCEEDINGS{ Mourikis-RSS-05, AUTHOR = {Anastasios I. Mourikis and Stergios I. Roumeliotis}, TITLE = {Performance Bounds for Cooperative Simultaneous Localization and Mapping {(C-SLAM)}}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2005}, ADDRESS = {Cambridge, USA}, MONTH = {June}, DOI = {10.15607/RSS.2005.I.010} }