Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization
Yewei Huang,Xi Lin,Brendan Englot,Yewei Huang,Xi Lin,Brendan Englot
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined impact of process noise and sensor noise on map uncertainty. Additionally, we employ an iterative expectation-maximization inspired algorithm to assess the potenti...
