multi-robot systemsThis paper addresses the problem of grid map merging for multi-robot systems, which can be resolved by acquiring the map transformation matrix (MTM) among robot maps. Without the initial correspondence or any rendezvous among robots, the only way to acquire the MTM is to ...
For large-scale unknown environments,a method of topological node matching based on visual feature is presented,and a local scan matching strategy is integrated to realize map merging for multi-robot system under RTM(robot technology middleware) framework.A main-auxiliary structure model of multiple ...
This paper presents a multi-robot mapping and localization system. Learning maps and efficient exp loration of unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping problem). Our approach uses a team of mobile robots which uses scan...
Map-Merging for Multi-Robot System. Bachelor’s Thesis, Charles University, Prague, Czech Republic, 25 August 2016. [Google Scholar] Lin, Z.; Zhu, J.; Jiang, Z.; Li, Y.; Li, Y.; Li, Z. Merging Grid Maps in Diverse Resolutions by the Context-based Descriptor. ACM Trans. Internet...
When a group of autonomous robots enter a large-scale environment (such as an unknown hazard site), the multi-robot system needs to collaboratively explore the unknown environment autonomously. The following three major tasks need to be accomplished for multi-robot SLAM: determination of relative po...
Multi-robot SLAMscan-mathcingfast-slamrao-blackwellised particle filterThis paper presents a multi-robot mapping and localization system. Learning maps and efficient exploration of unknown environment is a fundamental problem in mobile robotics usually called SLAM (simultaneous localization and mapping ...
robust_distributed_mapper: 加入pcm的分布式建图系统 Kimera-RPGO: Kimera是个语义网格视觉slam, 这是它对应的后端优化库。他们研究所的最新论文Kimera-Multi也应用了PCM机制,但是尚未开源。 还有一些项目也加入了PCM:Collaborative Robot Mapping using Spectral Graph Analysis,Door-slam...
-- This paper reports on a method for robust se- lection of inter-map loop closures in multi-robot simultaneous localization and mapping (SLAM). Existing robust SLAM methods assume a good initialization or an "odometry back- bone" to classify inlier and outlier loop closures. In the multi-ro...
Map-merging technique is a well-studied and challenging domain in the field of autonomous mobile robotics. It is not always possible to create a map only using a single robot. Thus, the most common practice is to collect maps of individual robots of the region it has been able to reveal,...
Multi-robot systemsthis paper, we consider the problem of occupancy grid map merging which is an important issue especially for multi-robot exploration task in search and rescue environments. We present scale invariant feature transform based methodology for combining individual partial map of robot ...