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Paper TuP110.2

Hofmeister, Marius (University of Tuebingen), Kronfeld, Marcel (University of Tuebingen), Zell, Andreas (University of Tübingen)

Cooperative Visual Mapping in a Heterogeneous Team of Mobile Robots

Scheduled for presentation during the Regular Sessions "Localization and Mapping III" (TuP110), Tuesday, May 10, 2011, 13:55−14:10, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 29, 2020

Keywords Mapping, Path Planning for Multiple Mobile Robots or Agents

Abstract

Mapping is regarded as one of the most fundamental tasks for mobile robots. In this work, we present an approach that enables multiple resource-limited mobile robots to cooperatively build an image-based map of the environment and to afterwards localize in it. To achieve this, we deploy a hierarchical team of mobile robots. A parent robot possesses state-of-the-art sensors, computation power and acts as a leader. It teleoperates small child robots within its line-of-sight. In contrast to other approaches and due to the cooperation among the robots, we can relax the requirement that every robot must be able to self-localize to take part in multi-robot mapping. Additionally, our algorithm ensures the mapping of the entire area in an efficient way, i.e., it fulfills the requirements of area coverage. To test our approach, extensive experiments have been performed both in simulation and real-world. In the latter case, a team of four heterogeneous mobile robots was deployed. Besides the successful cooperation in the robot team, localization results are presented to validate the applicability of the proposed mapping procedure.

 

 

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