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

fYear

2015

fDate

8-10 April 2015

Firstpage

77

Lastpage

82

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Robot Systems and Competitions (ICARSC), 2015 IEEE International Conference on

Conference_Location

Vila Real

Type

conf

DOI

10.1109/ICARSC.2015.18

Filename

7101614