Decentralised simultaneous localisation and mapping for AUVs

Abstract

This paper presents a novel decentralised architecture for simultaneous localization and mapping using multiple vehicles. The architecture is tailored for underwater environments with limited bandwidth and infrequent communications. The maps are represented using the information form of the EKF. In this form the update of information is an additive process; as a result, incremental new information can be integrated across different vehicles with arbitrary network latencies. Our experimental results show the effectiveness of the architecture. © 2007 IEEE.