000056830 001__ 56830 000056830 005__ 20210121114500.0 000056830 0247_ $$2doi$$a10.1007/s10514-014-9406-z 000056830 0248_ $$2sideral$$a96217 000056830 037__ $$aART-2015-96217 000056830 041__ $$aeng 000056830 100__ $$0(orcid)0000-0001-9458-6257$$aAragüés Muñoz, María del Rosario$$uUniversidad de Zaragoza 000056830 245__ $$aFeature–based Map Merging with Dynamic Consensus on Information Increments 000056830 260__ $$c2015 000056830 5060_ $$aAccess copy available to the general public$$fUnrestricted 000056830 5203_ $$aWe study the problem of feature-based map merging in robot networks. Along its operation, each robot observes the environment and builds and maintains a local map. Simultaneously, each robot communicates and com- putes the global map of the environment. The communication between the robots is range-limited. Our contributions are the proposal and careful study of the properties of an algorithm that considers separately robot poses and features positions, and that reaches consensus on the latest global map using the map increments between the previous and the current time steps. We give proofs of unbiasedness and consistency of this global map for all the robots, at each iteration. Our algorithm is fully distributed and does not rely on any particular com- munication topology. Under mild connectivity conditions on the communication graph, our merging algorithm asymptot- ically converges to the global map. The proposed approach has been experimentally validated using real RGB-D images. Keywords Distributed robot systems · Networked robots 000056830 536__ $$9info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32100$$9info:eu-repo/grantAgreement/ES/MINECO/DPI2009-08126 000056830 540__ $$9info:eu-repo/semantics/openAccess$$aby-nc-nd$$uhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/ 000056830 590__ $$a1.547$$b2015 000056830 591__ $$aROBOTICS$$b11 / 25 = 0.44$$c2015$$dQ2$$eT2 000056830 591__ $$aCOMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE$$b61 / 130 = 0.469$$c2015$$dQ2$$eT2 000056830 592__ $$a1.928$$b2015 000056830 593__ $$aArtificial Intelligence$$c2015$$dQ1 000056830 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000056830 700__ $$0(orcid)0000-0002-3032-954X$$aSagues, Carlos$$uUniversidad de Zaragoza 000056830 700__ $$aMezouar, Youcef 000056830 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000056830 773__ $$g38, 3 (2015), 243–259$$pAuton. robots$$tAUTONOMOUS ROBOTS$$x0929-5593 000056830 8564_ $$s1329118$$uhttps://zaguan.unizar.es/record/56830/files/texto_completo.pdf$$yPostprint 000056830 8564_ $$s95596$$uhttps://zaguan.unizar.es/record/56830/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000056830 909CO $$ooai:zaguan.unizar.es:56830$$particulos$$pdriver 000056830 951__ $$a2021-01-21-10:51:12 000056830 980__ $$aARTICLE