Mapping Implementation for Multi-robot System with Glyph Localisation

An important prerequisite for creation of autonomous robot is the ability to create the map of the environment. Robots need to be able to construct a map of the environment and to use it for navigation. In this paper a multirobot mapping approach is proposed, where artificial landmarks (glyphs) are used for robot localisation and only simple sensors - bumper sensors - are available for obstacle detection. The proposed mapping system creates the map of the environment and allows changing the map rapidly in case of inaccurate robot position measurements or sensor errors. The system has a central server and robots use wireless network to communicate with the server. The mapping implementation takes into account the fact that the network has limited bandwidth and only limited amount of data can be sent.