Tuna G.Gulez K.Gungor V.C.2024-06-122024-06-1220119.78161E+12https://doi.org/10.1109/ICMECH.2011.5971336https://hdl.handle.net/20.500.14551/16307IEEE Industrial Electronics Society;Istanbul Technical University;FESTO;STM;aselsan2011 IEEE International Conference on Mechatronics, ICM 2011 -- 13 April 2011 through 15 April 2011 -- Istanbul -- 86249This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations. © 2011 IEEE.en10.1109/ICMECH.2011.5971336info:eu-repo/semantics/closedAccessMap Merging; Mobile Robot; Ns-2; Slam; WsnsCommunication Problems; Design Considerations; Map Merging; Multiple Robot; Multirobots; Network Simulators; Ns-2; Odometry; Radio Messages; Rao-Blackwellized Particle Filter; Received Signal Strength Indicators; Simultaneous Localization And Mapping; Slam; Slam Algorithm; Wsns; Communication; Computer Simulation; Industrial Robots; Machine Design; Mathematical Techniques; Mechatronics; Multipurpose Robots; Wireless Sensor Networks; RoboticsConference Object4934982-s2.0-80052181981N/A