Robotics: Science and Systems I

Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM)

Anastasios I. Mourikis, Stergios I. Roumeliotis

Abstract: In this paper we study the time evolution of the position estimates' covariance in Cooperative Simultaneous Localization and Mapping (C-SLAM), and obtain analytical upper bounds for the positioning uncertainty. The derived bounds provide descriptions of the asymptotic positioning performance of a team of robots in a mapping task, as a function of the characteristics of the proprioceptive and exteroceptive sensors of the robots, and of the graph of relative position measurements recorded by the robots. A study of the properties of the Riccati recursion which describes the propagation of uncertainty through time, yields (i) the guaranteed accuracy for a robot team in a given C-SLAM application, as well as (ii) the maximum expected steady-state uncertainty of the robots and landmarks, when the spatial distribution of features in the environment can be modeled by a known distribution. The theoretical results are validated by simulation experiments.



    AUTHOR    = {Anastasios I. Mourikis and Stergios I. Roumeliotis},
    TITLE     = {Performance Bounds for Cooperative Simultaneous 
                 Localization and Mapping {(C-SLAM)}},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2005},
    ADDRESS   = {Cambridge, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2005.I.010}