CSLAM SYSTEM CONSENSUS ESTIMATION IN DYNAMIC COMMUNICATION NETWORKS

Shuhuan Wen,∗ Zhe Wang,∗∗ Jian Chen,∗ Luigi Manfredi,∗∗∗ and Yongzheng Tong∗

Keywords

CSLAM, consensus estimation, jointly resample, dynamic network,multirobot system, switching topology

Abstract

This paper proposes the multi-robot Cooperative Simultaneous Localization and Mapping (CSLAM) consensus estimation algorithm. The traditional consensus algorithm relies on the Laplacian matrix solution and the selection of consensus gains and requires tedious proof. This paper proposes a consensus estimation algorithm that uses the obtained global estimation to correct the weight distribution of local information. And then the CSLAM task can still ensure the accuracy of the map under dynamic network conditions. Simulations validate the proposed consensus estimation in multi-robot CSLAM systems.

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