Multi-robot Autonomous Exploration and Map Merging in Unknown Environments

This work aims to develop and implement Simultaneous Localization and Mapping (SLAM) on multiple mobile robots, to accomplish that, each robot must autonomously explore and merge their individual estimated maps of an environment into one full global map. Robots must obey rules of coordination to not...

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Bibliographic Details
Main Authors: Filho, Luiz Eugenio Santos Araujo, Junior, Cairo Lucio Nascimento
Format: Conference Proceeding
Language:English
Subjects:
autonomous exploration
Conferences
Green products
Indoor environment
map merging
Merging
multi-robot systems
Robot kinematics
Sensors
Simultaneous localization and mapping
SLAM
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Description
Summary:This work aims to develop and implement Simultaneous Localization and Mapping (SLAM) on multiple mobile robots, to accomplish that, each robot must autonomously explore and merge their individual estimated maps of an environment into one full global map. Robots must obey rules of coordination to not fall into "blind" multi-robot SLAM, where each robot is unaware of each other and can't take in consideration the advantage of multi-robot systems. In order to validate the proposed approach, experiments using simulated robots were applied to autonomously explore and map indoor environments with the objective of complete a percentage of the total available area, in a task called coverage.
ISSN:2472-9647
DOI:10.1109/SysCon53536.2022.9773929