Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach |
| |
Authors: | Keith Y K Leung Timothy D Barfoot Hugh H T Liu |
| |
Affiliation: | (1) Istituto di Scienze e Tecnologie della Cognizione, Consiglio Nazionale delle Ricerche, via San Martino della Battaglia 44, 00185 Rome, Italy;(2) IRIDIA-CoDE, ULB, Avenue F. Roosevelt, n. 50, CP 194/6, 1050 Brussels, Belgium |
| |
Abstract: | Communication between robots is key to performance in cooperative multi-robot systems. In practice, communication connections
for information exchange between all robots are not always guaranteed, which adds difficulty in performing state estimation.
This paper examines the decentralized cooperative simultaneous localization and mapping (SLAM) problem, in which each robot is required to estimate the map and all robot states under a sparsely-communicating and dynamic
network. We show how the exact, centralized-equivalent estimate can be obtained by all robots in the network in a decentralized
manner even when the network is never fully connected. Furthermore, a robot only needs to consider its own knowledge of the
network topology in order to detect when the centralized-equivalent estimate is obtainable. Our approach is validated through
more than 250 min of hardware experiments using a team of real robots. The resulting estimates are compared against accurate
groundtruth data for all robot poses and landmark positions. In addition, we examined the effects of communication range limit
on our algorithm’s performance. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|