ICRA 2012 Paper Abstract

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Paper TuC09.5

Gong, Chaohui (Carnegie Mellon University), Tully, Stephen (Carnegie Mellon University), Kantor, George (Carnegie Mellon University), Choset, Howie (Carnegie Mellon University)

Multi-Agent Deterministic Graph Mapping Via Robot Rendezvous

Scheduled for presentation during the Regular Session "Mapping" (TuC09), Tuesday, May 15, 2012, 15:30−15:45, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 23, 2018

Keywords Mapping, SLAM, Autonomous Navigation

Abstract

In this paper, we present a novel algorithm for deterministically mapping an undirected graph-like world with multiple synchronized agents. The application of this algorithm is the collective mapping of an indoor environment with multiple mobile robots while leveraging an embedded topological decomposition of the environment. Our algorithm relies on a group of agents that all depart from the same initial vertex in the graph and spread out to explore the graph. A centralized tree of graph hypotheses is maintained to consider loop-closure, which is deterministically verified when agents observe each other at a common vertex. To achieve efficient mapping, we introduce an active exploration method in which agents dynamically request rendezvous tasks from other available agents to validate graph hypotheses.

 

 

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