Event-driven loop closure in multi-robot mapping

Authors:
Teresa A. Vidal-Calleja;Cyrille Berger;Simon Lacroix
Affiliations:
CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France;CNRS, LAAS, Toulouse, France and Université de Toulouse, UPS, INSA, INP, ISAE, LAAS, Toulouse, France
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

A large-scale mapping approach is combined with multiple robots events to achieve cooperative mapping. The mapping approach used is based on hierarchical SLAM - global level and local maps-, which is generalized for the multi-robot case. In particular, the consequences of multi-robot loop closing events (common landmarks detection and relative pose measurement between robots) are analyzed and managed at a global level. We present simulation results for each of these events using aerial and ground robots, and experimental results obtained with ground robots.