A framework for RF-visual SLAM for cooperative multi-agent system

Herdawatie Abdul Kadir*, Mohd Rizal Arshad

*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceedingChapterpeer-review

1 Citation (Scopus)

Abstract

This chapter provides a framework for radio frequency visual simultaneous localization and mapping problems for a team of agents consisting of three blimps and beacons. In a cooperative system, each agent must establish reliable data sharing during a mission. Under these conditions, a framework was proposed which allows each agent to share the local information using peer-to-peer networking schemes. The RF-vSLAM algorithm seeks to acquire a map during navigation, simultaneously localizing itself using the map and received signal strength indicator information to predict the distance between agents. In this chapter, the authors address the problem of detection features using SIFT algorithms. The authors have considered the sea surface as the working environment. In this research, the framework consisted of two types of agents, where beacon representing the static agent and blimp representing the homogeneous mobile agent. The communication exchange between these two types of agents is an environmentally friendly monitoring system that preserves natural value of the selected area.

Original languageEnglish
Title of host publicationHandbook of Research on Advancements in Robotics and Mechatronics
PublisherIGI Global
Pages697-727
Number of pages31
ISBN (Electronic)9781466673885
ISBN (Print)1466673877, 9781466673878
DOIs
Publication statusPublished - 31 Dec 2014
Externally publishedYes

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