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Heterogeneous Teams of Modular Robots for Mapping and Exploration

Most of the research in the field of robotics is focussed on solving the problem of Simultaneous Localization and Mapping(SLAM). In general the problem is solved using a single robot. In the article written by R. Grabowski, C. Paredis and P. Hkosla, called ”Heterogeneous Teams of Modular Robots for Mapping end Exploration” a novel localization method is presented based on multiple robots.[Grabowski, 2000] For this purpose the relative distance between the different robots is calculated. These measurements, together with the positions estimated using dead reckoning, are used to determine the most likely new positions of the agents. Knowing the positions is essential when pursuing accurate (team) mapping capabilities. The proposed method makes it possible for heterogeneous team of modular centimeter-scale robots to collaborate and map unexplored environments.