Indoor Multi-Robot Cooperative Mapping Based on Geometric Features

Statistical Methods for Cooperative Multi-robot Mapping

Cooperative Multi-robot Patrol in an Indoor Infrastructure

Multi-robot patrol (MRP) is essentially a collective decision-makingproblem, where mobile robotic units must coordinate their actions effectively in order to schedule visits to every critical point of the environment. The problem is commonly addressed using centralized planners with global knowledge and/or calculating a priori routes for all robots before the beginning of the mission. However, ...

Cooperative Robot Localization with Vision-Based Mapping

Two stereo vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. A novel landmark recognition system allows one robot t o automatically find suitable landmarks in the environment. The second robot uses these landmarks to localize itself relative to the first robot’s reference frame, even when the current stat...

Geometric Robot Mapping

The purpose of this paper is to present a technique to create a global map of a robot’s surrounding by converting the raw data acquired from a scanning sensor to a compact map composed of just a few generalized polylines (polygonal curves). To merge a new scan with a previously computed map of the surrounding we use an approach that is composed of a local geometric process of merging similar li...

Uncertainty Based Multi-Robot Cooperative Triangulation

The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. ...