Tek Robottan Çoklu Robotlara Ortam Haritalama

Bu makalenin amaci, robotlar icin ortam haritalama konusunda yapilmis calismalari, tek robottan baslayarak, coklu robotlara kadar tarayarak kapsamli ve guncel bir literatur degerlendirmesi sunmaktadir. Yapilan calismalar incelendiginde, ortam haritalama problemlerinin iki onemli kismi bulundugu gorulmektedir. Ilk kisim, ortamda nelerin algilanacagi ve haritanin nasil bir tanimlama ile olusturulacagidir. Ikinci kisim ise, secilen bu model ve robottan gelen bilgiler cercevesinde, haritanin muhakeme icin nasil kullanilacagina ve guncellenecegine dairdir. Coklu robotlar ile ortam haritalama calismalari, tek robot icin gelistirilen harita ve muhakeme yontemlerinin coklu robotlar icin genellestirilmesini esas aldigi gorulmektedir. Bu cercevede, secilen makaleler 3 ana baslik altinda sirasiyla incelenmekte ve yapilan uygulamalar genel olarak sunulmaktadir. Makale, genel bir degerlendirme ile sonlanmaktadir. Abstract This paper presents a survey of map building with single robots to multirobot systems. Map building is addressed in two related topics. The first pertains to the map models that have been developed while the second is associated with reasoning methods that are used in updating the constructed maps with the incoming sensory data. While initial work in this area has focused on single robots, recent work has started considering multirobot systems. Most such systems basically extend approaches that have been originally developed for single robots to multirobot scenarios. In this paper, we consider map models, reasoning with maps and multirobot map building one by one. Our attempt is to provide a comprehensive coverage of related work. The paper concludes with a discussion of related applications and a general evaluation..

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