Collaborative Active SLAM: Synchronous and Asynchronous Coordination Among Agents
CoRR(2023)
摘要
In autonomous robotics, a critical challenge lies in developing robust
solutions for Active Collaborative SLAM, wherein multiple robots
collaboratively explore and map an unknown environment while intelligently
coordinating their movements and sensor data acquisitions. In this article, we
present two approaches for coordinating a system consisting of multiple robots
to perform Active Collaborative SLAM (AC-SLAM) for environmental exploration.
Our two coordination approaches, synchronous and asynchronous implement a
methodology to prioritize robot goal assignments by the central server. We also
present a method to efficiently spread the robots for maximum exploration while
keeping SLAM uncertainty low. Both coordination approaches were evaluated
through simulation and experiments on publicly available datasets, rendering
promising results.
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关键词
asynchronous coordination
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