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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.
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