Title :
Multi-robot Localization and Mapping Based on Signed Distance Functions
Author :
Koch, Philipp ; May, Stefan ; Schmidpeter, Michael ; Kuhn, Markus ; Pfitzner, Christian ; Merkl, Christian ; Koch, Rainer ; Fees, Martin ; Martin, Jon ; Nuchter, Andreas
Author_Institution :
Fac. of Electr. Eng., Inf. Technol. Nuremberg Inst. of Technol. Georg Simon Ohm, Nuremberg, Germany
Abstract :
This publication describes a 2D Simultaneous Localization and Mapping approach applicable to multiple mobile robots. The presented strategy uses data of 2D LIDAR sensors to build a dynamic representation based on Signed Distance Functions. A multi-threaded software architecture performs registration and data integration in parallel allowing for drift-reduced pose estimation of multiple robots. Experiments are provided demonstrating the application with single and multiple robot mapping using simulated data, public accessible recorded data as well as two actual robots operating in a comparably large area.
Keywords :
SLAM (robots); control engineering computing; data integration; mobile robots; multi-robot systems; optical radar; pose estimation; radar imaging; software architecture; 2D LIDAR sensors; 2D simultaneous localization and mapping approach; data integration; drift-reduced pose estimation; dynamic representation; multiple mobile robots; multirobot localization; multirobot mapping; multithreaded software architecture; signed distance functions; Buildings; Computer architecture; Robot kinematics; Simultaneous localization and mapping; Mobile Robotics; Multi-Robot; Rescue Robotics; SLAM;
Conference_Titel :
Autonomous Robot Systems and Competitions (ICARSC), 2015 IEEE International Conference on
Conference_Location :
Vila Real
DOI :
10.1109/ICARSC.2015.18
