Complex approach to long-term multi-agent mapping in low dynamic environments
Evgeny A. Shvets, Dmitry Nikolaev · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2015
In the paper we consider the problem of multi-agent continuous mapping of a changing, low dynamic environment. The mapping problem is a well-studied one, however usage of multiple agents and operation in a non-static environment complicate it and present a handful of challenges (e.g. double-counting, robust data association, memory and bandwidth limits). All these problems are interrelated, but are very rarely considered together, despite the fact that each has drawn attention of the researches. In this paper we devise an architecture that solves the considered problems in an internally consistent manner.