Wireless sensor network-based communication for cooperative simultaneous localization and mapping. (January 2015)

• Record Type: Journal Article
• Authors: Tuna, Gurkan; Güngör, Vehbi Çağrı; Potirakis, Stelios M.
• Is Part Of: Computers & electrical engineering. Volume 41(2015)
• Page Start: 407
• Page End: 425
• Publication Date: 2015-01
• Subjects: Computer engineering -- Periodicals; Electrical engineering -- Periodicals; Electrical engineering -- Data processing -- Periodicals; Ordinateurs -- Conception et construction -- Périodiques; Électrotechnique -- Périodiques; Électrotechnique -- Informatique -- Périodiques; Computer engineering; Electrical engineering; Electrical engineering -- Data processing; Periodicals; Electronic journals; 621.302854
• DOI: 10.1016/j.compeleceng.2014.03.003
• Languages: English
• ISSNs: 0045-7906

Abstract

Abstract: This paper presents a novel approach of using a Wireless Sensor Network (WSN) as the communication means for Multi-Robot, Cooperative, Simultaneous Localization and Mapping (CSLAM) applications investigating the associated design challenges and suggesting corresponding solutions. Although the proposed approach brings several benefits including an increased coverage and communication range, self-organization capabilities, quick deployment, and flexible architecture, the realization is interrelated with performance in terms of energy efficiency and reliability. In this respect, the applicability of the WSNs for the presented approach is investigated. Centralized and distributed map merging methods in WSN-based CSLAM are evaluated in detail and the impacts of packet delays and losses on the performance of CSLAM algorithms are shown. Additionally, the involved network congestion and contention dynamics are presented, while the effects of observation range, speed, time intervals between observations, and odometry readings on the SLAM accuracy are shown based on an extensive set of simulation studies.