Swarm-SLAM：マルチロボットシステムのためのスパース分散協調SLAMフレームワーク
Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
複数ロボットが分散的に協調して自己位置推定と地図構築を行うオープンソースSLAMシステムを提案し、通信削減と収束加速を実現した。
著者: Pierre-Yves Lajoie, Giovanni Beltrame
分類: cs.RO, cs.CV
原文アブストラクト
Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such as indoors, underground or underwater. In this paper, we introduce Swarm-SLAM, an open-source C-SLAM system that is designed to be scalable, flexible, decentralized, and sparse, which are all key properties in swarm robotics. Our system supports inertial, lidar, stereo, and RGB-D sensing, and it includes a novel inter-robot loop closure prioritization technique that reduces communication and accelerates convergence. We evaluated our ROS-2 implementation on five different datasets, and in a real-world experiment with three robots communicating through an ad-hoc network. Our code is publicly available: https://github.com/MISTLab/Swarm-SLAM
