Distribuited Algorithms for mapping and Localization in Robot Networks

Описание: A search-and-rescue scenario has been assembled in the Robotics Laboratory for the validation of the Cooperative SLAM algorithm implemented by Antonio Coratelli during his Master Thesis at Politecnico di Bari, in collaboration with ISSIA. The experiment has consisted in the cooperative reconstruction of the 3D environment using a team composed of two Unmanned Ground Vehicles and one Unmanned Aerial Vehicle. A ground truth reconstruction of the environment has been obtained employing an hand-held Microsoft Kinect RGBD camera tracked by the Vicon system.