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A Framework for RF-Visual SLAM for Cooperative Multi-Agent System

A Framework for RF-Visual SLAM for Cooperative Multi-Agent System

Herdawatie Abdul Kadir, Mohd Rizal Arshad
Copyright: © 2015 |Pages: 31
ISBN13: 9781466673878|ISBN10: 1466673877|EISBN13: 9781466673885
DOI: 10.4018/978-1-4666-7387-8.ch022
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MLA

Kadir, Herdawatie Abdul, and Mohd Rizal Arshad. "A Framework for RF-Visual SLAM for Cooperative Multi-Agent System." Handbook of Research on Advancements in Robotics and Mechatronics, edited by Maki K. Habib, IGI Global, 2015, pp. 697-727. https://doi.org/10.4018/978-1-4666-7387-8.ch022

APA

Kadir, H. A. & Arshad, M. R. (2015). A Framework for RF-Visual SLAM for Cooperative Multi-Agent System. In M. Habib (Ed.), Handbook of Research on Advancements in Robotics and Mechatronics (pp. 697-727). IGI Global. https://doi.org/10.4018/978-1-4666-7387-8.ch022

Chicago

Kadir, Herdawatie Abdul, and Mohd Rizal Arshad. "A Framework for RF-Visual SLAM for Cooperative Multi-Agent System." In Handbook of Research on Advancements in Robotics and Mechatronics, edited by Maki K. Habib, 697-727. Hershey, PA: IGI Global, 2015. https://doi.org/10.4018/978-1-4666-7387-8.ch022

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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.

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