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In this paper we propose a simultaneous localization and mapping (SLAM) method that utilizes local anomalies of the ambient magnetic field present in many indoor environments. We use a Rao-Blackwellized particle filter to estimate the pose distribution of the robot and Gaussian Process regression to model the magnetic field map. The feasibility of the proposed approach is validated by real world experiments,...
This paper describes ongoing work for implementing a distributed multi-robot system for measuring various physical properties of the environment in a coordinated manner. Modeling spatial distributions of physical quantities such as temperature, illumination, humidity, gas concentrations, or magnetic flux provides an opportunity to observe how these distributions change in time, how to utilise the...
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