Messier, Geoffrey G.Magierowski, SebastianReentov, Egor2017-12-182017-12-182010http://hdl.handle.net/1880/104498Bibliography: p. 127-134Some pages are in colour.Simultaneous Localization and Mapping (SLAM) by robots is a difficult problem: n01sy odometry combined with noisy range sensor measurements lead to quick accumulation of error. \i\Then the robots need to communicate to each other or to a base station to share their maps, the problem is also compounded by wireless network issues. Most research to date ignores or oversimplifies the network model when simulating SLAM. This thesis uses network simulation to get more accurate communications description. Estimating map quality in SLAM research has been traditionally done subjectively by humans. This thesis tries to quantify the SLAM map quality. The main contribution of this research is to determine the effect of the wireless communication channel on map building by using realistic network simulations tied with SLAJVI. Another contribution is to suggest using Hausdorff distance as a map quality measure.viii, 134 leaves : ill. ; 30 cm.engUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.master thesis10.11575/PRISM/3497