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1. US20210103290 - System and Method for Probabilistic Multi-Robot SLAM

Office
United States of America
Application Number 16591437
Application Date 02.10.2019
Publication Number 20210103290
Publication Date 08.04.2021
Publication Kind A1
IPC
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
G06F 17/18
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
17Digital computing or data processing equipment or methods, specially adapted for specific functions
10Complex mathematical operations
18for evaluating statistical data
CPC
B25J 9/1682
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1682Dual arm manipulator; Coordination of several manipulators
G05D 1/0274
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0268using internal positioning means
0274using mapping information stored in a memory device
G05D 1/0287
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0287involving a plurality of land vehicles, e.g. fleet or convoy travelling
G06F 17/18
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
17Digital computing or data processing equipment or methods, specially adapted for specific functions
10Complex mathematical operations
18for evaluating statistical data ; , e.g. average values, frequency distributions, probability functions, regression analysis
G05D 1/0246
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
Applicants Mitsubishi Electric Research Laboratories, Inc.
Inventors Milutin Pajovic
Nathaniel Moore Glaser
Philip Orlik
Title
(EN) System and Method for Probabilistic Multi-Robot SLAM
Abstract
(EN)

A robot performs simultaneous localization and mapping (SLAM) using a particle filter to process sensor measurements of movements of the robot in an environment and occupied locations in the environment to produce a set of particles. Each particle includes a map of the environment and a pose of the robot in the environment to represent a probability that the environment has the map oriented with respect to the pose of the robot. The robot receives a set of particles of a neighboring robot and, in response to receiving the set of particles of the neighboring robot, updates maps of probabilistically sampled particles of the robot with maps of probabilistically sampled particles of the neighboring robot. The update includes merging a map of the sampled particle of the robot with a map of the sampled particle of the neighboring robot roto-translated based on a relative pose between the robots.

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