Abstract
This paper deals with the problem of grid map merging in multi-robot SLAM (simultaneous positioning and mapping) where the initial relative pose between robots is unknown. When robots encounter each other, it is easy to obtain a map transformation between robots for grid map merging if bilateral observation measurements are available between robots. However, since the bilateral observation measurements are obtained by encounters between robots, they may limit the availability of using multi-robot systems. To overcome the limitation, spectra-based map merging can be applied without any observation measurements between robots. However, it requires sufficient overlapping areas between indivisual maps of robots, which can also limit the availability of using multi-robot systems. In this paper, therefore, to overcome both limitations, an extension of spectra-based map merging using not bilateral but unilateral observation measurements. The proposed method was tested with datasets obtained from real experiments with mobile robots equipped with a sensor fusion system which can obtain unilateral observation measurements to other robots. Experimental results showed that the proposed map merging method works successfully without any bilateral observation measurements.
Highlights
Multi-robot systems (MRS) have gained a great popularity where they can simultaneously perform two or more tasks in a shorter time than a single robot system
PROPOSED METHOD The proposed method is an extension of the spectra-based map merging (SMM) which uses unilateral observation measurements to improve the availability of multi-robot systems while maintaining the accuracy of map merging
A MAP TRANSFORMATION MATRIX (MTM) between Ri and Rj is obtained by the SMM within the reduced search space by the unilateral observation measurements
Summary
Multi-robot systems (MRS) have gained a great popularity where they can simultaneously perform two or more tasks in a shorter time than a single robot system. Since the accuracy of map merging depends on direct bilateral observation measurements, highly accurate sensors and data processing techniques are required, which increases the cost of configuring the multi-robot systems. In the descriptor-based map merging methods [1], [10], [11], map merging is conducted by recognizing common objects that are known to each other between robots and their relative locations and directions Since it requires to extract the visual descriptor relatively high computational cost, it may burden real-time performance. As a direct map merging method, bilateral observationbased map merging techniques require the inevitable condition on predetermined or accidental encounters degenerates the efficiency of operating multi-robot systems. In the unilateral observation systems, the relative distance measurements depends on only R1 PR2
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
