25 May 2012 Large-scale experimental design for decentralized SLAM
Author Affiliations +
Abstract
This paper presents an analysis of large scale decentralized SLAM under a variety of experimental conditions to illustrate design trade-offs relevant to multi-robot mapping in challenging environments. As a part of work through the MAST CTA, the focus of these robot teams is on the use of small-scale robots with limited sensing, communication and computational resources. To evaluate mapping algorithms with large numbers (50+) of robots, we developed a simulation incorporating sensing of unlabeled landmarks, line-of-sight blocking obstacles, and communication modeling. Scenarios are randomly generated with variable models for sensing, communication, and robot behavior. The underlying Decentralized Data Fusion (DDF) algorithm in these experiments enables robots to construct a map of their surroundings by fusing local sensor measurements with condensed map information from neighboring robots. Each robot maintains a cache of previously collected condensed maps from neighboring robots, and actively distributes these maps throughout the network to ensure resilience to communication and node failures. We bound the size of the robot neighborhoods to control the growth of the size of neighborhood maps. We present the results of experiments conducted in these simulated scenarios under varying measurement models and conditions while measuring mapping performance. We discuss the trade-offs between mapping performance and scenario design, including robot teams separating and joining, multi-robot data association, exploration bounding, and neighborhood sizes.
© (2012) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Alex Cunningham, Alex Cunningham, Frank Dellaert, Frank Dellaert, } "Large-scale experimental design for decentralized SLAM", Proc. SPIE 8387, Unmanned Systems Technology XIV, 83870O (25 May 2012); doi: 10.1117/12.919320; https://doi.org/10.1117/12.919320
PROCEEDINGS
9 PAGES


SHARE
RELATED CONTENT

Large-scale concurrent mapping and localization
Proceedings of SPIE (October 16 2000)
Graph-based mapping by mobile robots
Proceedings of SPIE (May 04 1993)
Multiple-platform localization and map building
Proceedings of SPIE (October 16 2000)
AQS-20 through-the-sensor environmental data sharing
Proceedings of SPIE (May 20 2005)
Interactive task planning system for space robots
Proceedings of SPIE (December 21 1993)

Back to Top