This paper presents an algorithm for the simultaneous localization and mapping (SLAM) problem. Inspired by the basic idea of the FastSLAM which separates the robot pose estimation problem and mapping problem, we use the particle filter (PF) to estimate the pose of individual robot and use the multidimensional scaling (MDS), one of the distance mapping method, to find the relative coordinates of landmarks toward the robot. We apply the proposed algorithm to not only the single robot SLAM, but also the multi-robot SLAM. Experimental results demonstrate the effectiveness of the proposed algorithm over the FastSLAM. © 2008 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Je, H., & Kim, D. (2008). SLAM by combining multidimensional scaling and particle filtering. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5226 LNCS, pp. 825–832). https://doi.org/10.1007/978-3-540-87442-3_101
Mendeley helps you to discover research relevant for your work.