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  1. International Journal of Control, Automation and Systems
  2. International Journal of Control, Automation and Systems : Volume 10
  3. International Journal of Control, Automation and Systems : Volume 10, Issue 1, February 2012
  4. An enhanced CSLAM for multi-robot based on unscented kalman filter
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International Journal of Control, Automation and Systems : Volume 15
International Journal of Control, Automation and Systems : Volume 14
International Journal of Control, Automation and Systems : Volume 13
International Journal of Control, Automation and Systems : Volume 12
International Journal of Control, Automation and Systems : Volume 11
International Journal of Control, Automation and Systems : Volume 10
International Journal of Control, Automation and Systems : Volume 10, Issue 6, December 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 5, October 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 4, August 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 3, June 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 2, April 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 1, February 2012
An iterative approach to determine the complexity of local models for robust identification of nonlinear systems
Multiple-model adaptive control for interval plants
Development of a general robust H $_{∞}$ singular filter design method for uncertain discrete descriptor systems with time delay
Leader-follower consensus for a class of nonlinear multi-agent systems
Electrical energy quality: Modeling and H$^{∞}$ control of a three-phase shunt active filter
Path tracking control of Lagrange systems with obstacle avoidance
Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle
L $_{2}$ disturbance attenuation control for input saturated spacecraft attitude stabilization without angular velocity measurements
Passive internet-based crane teleoperation with haptic aids
Parameter identification and design of a robust attitude controller using H $_{∞}$ methodology for the raptor E620 small-scale helicopter
An enhanced CSLAM for multi-robot based on unscented kalman filter
A study on reliability enhancement for laser and camera calibration
On the design of a disturbance observer for moving target tracking of an autonomous surveillance robot
Incremental motion learning through kinesthetic teachings and new motion production from learned motions by a humanoid robot
Object motion tracking using a moving direction estimate and color updates
A delay partitioning approach to delay-range-dependent stability analysis of fuzzy systems
Fault diagnosis and optimal fault-tolerant control for systems with delayed measurements and states
Adaptive robust H $_{∞}$ control of time delay systems with unknown uncertainty bounds
An efficient initialization approach of Q-learning for mobile robots
Model free control based on GIMC structure
Model approximation of multiple delay transfer function models using multiple-point step response fitting
A twofold-interpolation-based path planning algorithm and its path following based on improved virtual vehicle method
Predictor-corrector type multi-rate sample hold for continuous estimated outputs
Novel delay-dependent stability criteria for stochastic systems with time-varying interval delay
International Journal of Control, Automation and Systems : Volume 9
International Journal of Control, Automation and Systems : Volume 8
International Journal of Control, Automation and Systems : Volume 7

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An enhanced CSLAM for multi-robot based on unscented kalman filter

Content Provider SpringerLink
Author Choi, Kyung Sik Lee, Suk Gyu
Copyright Year 2012
Abstract This paper proposes an unscented Kalman filter (UKF) based coordinative, simultaneous localization and mapping (CSLAM) system, in which robots share common mapping information. The SLAM information obtained by a master robot is shared with slave robots, which estimate only their own localizations using comparatively simple sensors. The behavior of the slave robots depends on the reconstructed CSLAM using information transmitted by the master robot. The proposed process reduces the processing burden of the slave robots, which results in a reduction of the calculation time and the complexity of their hardware system. By comparing the proposed algorithm with some conventional methods in terms of system stability, the efficiency of the proposed method is verified.
Starting Page 102
Ending Page 108
Page Count 7
File Format PDF
ISSN 15986446
Journal International Journal of Control, Automation and Systems
Volume Number 10
Issue Number 1
e-ISSN 20054092
Language English
Publisher Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date 2012-02-04
Publisher Place Heidelberg
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Coordinative SLAM common mapping information multi-robot UKF Control, Robotics, Mechatronics
Content Type Text
Resource Type Article
Subject Control and Systems Engineering Computer Science Applications
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