scholarly journals Tomographic Feature-Based Map Merging for Multi-Robot Systems

Electronics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 107 ◽  
Author(s):  
Heoncheol Lee
Keyword(s):  
Gaussian Mixture Models ◽  
Search Space ◽  
Gaussian Mixture ◽  
Transformation Matrix ◽  
Robot Systems ◽  
Feature Based ◽  
The Individual ◽  
Merging Method ◽  
Multi Robot ◽  
Map Merging

Multi-robot systems require collective map information on surrounding environments to efficiently cooperate with one another on assigned tasks. This paper addresses the problem of grid map merging to obtain the collective map information in multi-robot systems with unknown initial poses. If inter-robot measurements are not available, the only way to merge the maps is to find and match the overlapping area between maps. This paper proposes a tomographic feature-based map merging method, which can be successfully conducted with relatively small overlapping areas. The first part of the proposed method is to estimate a map transformation matrix using the Radon transform which can extract tomographically salient features from individual grid maps. The second part is to determine the search space using Gaussian mixture models based on the estimated map transformation matrix. The final part is to optimize an objective function modeled from tomographic information within the determined search space. Evaluation results with various pairs of individual maps produced by simulations and experiments showed that the proposed method can merge the individual maps more accurately than other map merging methods.

scholarly journals A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6988
Author(s):  
Shuien Yu ◽  
Chunyun Fu ◽  
Amirali K. Gostar ◽  
Minghui Hu
Keyword(s):  
Multiple Robots ◽  
Working Mechanism ◽  
Topological Maps ◽  
Occupancy Grid ◽  
Localization And Mapping ◽  
Robot Systems ◽  
Feature Based ◽  
Occupancy Grid Maps ◽  
Multi Robot ◽  
Map Merging

When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual robots, so as to provide a better representation of the environment. Hence, the map-merging methods play a crucial rule in multi-robot systems and determine the performance of multi-robot SLAM. This paper looks into the key problem of map merging for multiple-ground-robot SLAM and reviews the typical map-merging methods for several important types of maps in SLAM applications: occupancy grid maps, feature-based maps, and topological maps. These map-merging approaches are classified based on their working mechanism or the type of features they deal with. The concepts and characteristics of these map-merging methods are elaborated in this review. The contents summarized in this paper provide insights and guidance for future multiple-ground-robot SLAM solutions.

scholarly journals Map Merging with Suppositional Box for Multi-Robot Indoor Mapping

Electronics ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 815
Author(s):  
Baifan Chen ◽  
Siyu Li ◽  
Haowu Zhao ◽  
Limei Liu
Keyword(s):  
Feature Matching ◽  
Transformation Matrix ◽  
Map Building ◽  
Collaborative Mapping ◽  
Matching Pair ◽  
The Right ◽  
Efficiency Map ◽  
Merging Method ◽  
Multi Robot ◽  
Map Merging

For the map building of unknown indoor environment, compared with single robot, multi-robot collaborative mapping has higher efficiency. Map merging is one of the fundamental problems in multi-robot collaborative mapping. However, in the process of grid map merging, image processing methods such as feature matching, as a basic method, are challenged by low feature matching rate. Driven by this challenge, a novel map merging method based on suppositional box that is constructed by right-angled points and vertical lines is proposed. The paper firstly extracts right-angled points of suppositional box selected from the vertical point which is the intersection of the vertical line. Secondly, based on the common edge characteristics between the right-angled points, suppositional box in the map is constructed. Then the transformation matrix is obtained according to the matching pair of suppositional boxes. Finally, for matching errors based on the length of pairs, Kalman filter is used to optimize the transformation matrix. Experimental results show that this method can effectively merge map in different scenes and the successful matching rate is greater than that of other features.

scholarly journals Grid Map Merging with Ant Colony Optimization for Multi-Robot Systems

2021 ◽  
Author(s):  
Heoncheol Lee
Keyword(s):  
Ant Colony Optimization ◽  
Ant Colony ◽  
Working Environment ◽  
Grid Map ◽  
Localization And Mapping ◽  
Robot Systems ◽  
The Individual ◽  
Merging Algorithms ◽  
Multi Robot ◽  
Map Merging

Multi-robot systems have recently been in the spotlight in terms of efficiency in performing tasks. However, if there is no map in the working environment, each robot must perform SLAM which simultaneously performs localization and mapping the surrounding environments. To operate the multi-robot systems efficiently, the individual maps should be accurately merged into a collective map. If the initial correspondences among the robots are unknown or uncertain, the map merging task becomes challenging. This chapter presents a new approach to accurately conducting grid map merging with the Ant Colony Optimization (ACO) which is one of the well-known sampling-based optimization algorithms. The presented method was tested with one of the existing grid map merging algorithms and showed that the accuracy of grid map merging was improved by the ACO.

scholarly journals Consensus in networked multi-robot systems via local state feedback robust control

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989354
Author(s):  
Shijie Zhang ◽  
Yi Cao
Keyword(s):  
State Feedback ◽  
Dynamical Equation ◽  
Local Information ◽  
Network Graph ◽  
Robust Controller ◽  
Common Value ◽  
Robot Systems ◽  
Simulation Results ◽  
The Individual ◽  
Multi Robot

In the article, the consensus problem is considered for networked multi-robot systems, in which the dynamical equation of all robots is non-holonomic and nonlinear systems. In the multi-robot systems, each robot updates its current states and receives the states from the neighboring robots. Under the assumption that if the network graph is bidirectional, a local information-based state feedback robust controller is designed to make sure the convergence of the individual robots’ states to a common value. Finally, the effectiveness of the presented method is illustrated by the simulation results of a group of four mobile robots.

Design and Implementation of Distributed Autonomous Coordinators for Cooperative Multi-Robot Systems

2020 ◽  
pp. 324-339
Author(s):  
Gen'ichi Yasuda
Keyword(s):  
Petri Nets ◽  
Discrete Event ◽  
Task Planning ◽  
Multiple Robots ◽  
Robot Systems ◽  
Consistent Manner ◽  
Concurrent Processes ◽  
Robot Cooperation ◽  
The Individual ◽  
Multi Robot

The paper presents a systematic method of the design of cooperative task planning and execution for complex robotic systems using multiple robots. Because individual robots can autonomously execute their dedicated tasks, in cooperative multi-robot systems, robotic activities should be designed as discrete event driven asynchronous, concurrent processes. Further, since robotic activities are hierarchically defined, control requirements should be specified in a proper and consistent manner on different levels of control abstraction. In this paper, Petri nets are adopted as a specification tool for task planning and execution by multiple robots. Based on place/transition Petri nets, control conditions for inter-robot cooperation with synchronized interaction are represented, and control rules to achieve distributed autonomous coordinated activities with synchronous and asynchronous communication are proposed. An implementation of net based control software on hierarchical and distributed architecture is presented for an example multi-robot cell, where the higher-level controller executes a global net model of task plan representing cooperative behaviors performed by the robots, and the parallel activities of the individual robots are synchronized through the transmission of requests and the reception of status between the associated lower-level local controllers.

Fast and accurate map merging for multi-robot systems

2008 ◽  
Vol 25 (3) ◽  
pp. 305-316 ◽  
Author(s):  
Stefano Carpin
Keyword(s):  
Robot Systems ◽  
Multi Robot ◽  
Map Merging

Fuzzy coordination through measure information sharing of multi-robot system: A case study

2021 ◽  
pp. 1-8
Author(s):  
Xuefeng Dai ◽  
Jiazhi Wang ◽  
Dahui Li ◽  
Yanchun Wang
Keyword(s):  
Robot System ◽  
Fuzzy Membership Functions ◽  
System A ◽  
Parameter Update Law ◽  
Robot Systems ◽  
Potential Applications ◽  
The Individual ◽  
Logic Reasoning ◽  
Multi Robot

Multi-robot systems have many potential applications; however, the available results for coordination were based on qualitative information. Fuzzy logic reasoning has a feature of human being thinking, so a novel coordinated algorithm is proposed. The algorithm utilizes sharing sensing information of rooms and semantic robots to coordinating robots in a structured environment exploration. The approach divides all teammate robots into two classes according to robot exploration performance, and divides rooms into large, medium and small ones according to estimations of the individual areas. On the purpose of minimizing exploration time of the system, the reasoning coordination assigns large room to good performance robot, and vice versa. A parameter update law is introduced for fuzzy membership functions. Finally, the results are validated by computer simulations for a structured environment.

Sign in / Sign up

Export Citation Format

Share Document