A Simplistic Approach for Lightweight Multi-Agent SLAM Algorithm

2020 ◽  
Vol 11 (3) ◽  
pp. 67-83
Author(s):  
Anton Filatov ◽  
Kirill Krinkin
Keyword(s):  
State Of The Art ◽  
Simultaneous Localization And Mapping ◽  
The State ◽  
Limited Resources ◽  
Challenging Problem ◽  
Multiple Agents ◽  
Localization And Mapping ◽  
Multi Agent ◽  
Slam Algorithm ◽  
Computational Resources

Limitation of computational resources is a challenging problem for moving agents that launch such algorithms as simultaneous localization and mapping (SLAM). To increase the accuracy on limited resources one may add more computing agents that might explore the environment quicker than one and thus to decrease the load of each agent. In this article, the state-of-the-art in multi-agent SLAM algorithms is presented, and an approach that extends laser 2D single hypothesis SLAM for multiple agents is introduced. The article contains a description of problems that are faced in front of a developer of such approach including questions about map merging, relative pose calculation, and roles of agents.

Mapping, localization and motion planning in mobile multi-robotic systems

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 1-23 ◽  
Author(s):  
William Rone ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Motion Planning ◽  
System Design ◽  
Motion Control ◽  
State Of The Art ◽  
Simultaneous Localization And Mapping ◽  
Robotic System ◽  
The State ◽  
Robotic Systems ◽  
System Research ◽  
Localization And Mapping

SUMMARYAs researchers have pushed the limits of what can be accomplished by a single robot operating in a known or unknown environment, a greater emphasis has been placed on the utilization of mobile multi-robotic systems to accomplish various objectives. In transitioning from a robot-centric approach to a system-centric approach, considerations must be made for the computational and communicative aspects of the group as a whole, in addition to electromechanical considerations of individual robots. This paper reviews the state-of-the-art of mobile multi-robotic system research, with an emphasis on the confluence of mapping, localization and motion control of robotic system. Methods that compose these three topics are presented, including areas of overlap, such as integrated exploration and simultaneous localization and mapping. From these methods, an analysis of benefits, challenges and tradeoffs associated with multi-robotic system design and use are presented. Finally, specific applications of multi-robotic systems are also addressed in various contexts.

A Review: Simultaneous Localization and Mapping Algorithms

2015 ◽  
Vol 73 (2) ◽  
Author(s):  
Saif Eddine Hadji ◽  
Suhail Kazi ◽  
Tang Howe Hing ◽  
Mohamed Sultan Mohamed Ali
Keyword(s):  
Autonomous Navigation ◽  
State Of The Art ◽  
Simultaneous Localization And Mapping ◽  
The State ◽  
Sensor Data ◽  
Current Position ◽  
Mapping Algorithms ◽  
The Past ◽  
Localization And Mapping ◽  
Environmental Map

Simultaneous Localization and Mapping (SLAM) involves creating an environmental map based on sensor data, while concurrently keeping track of the robot’s current position. Efficient and accurate SLAM is crucial for any mobile robot to perform robust navigation. It is also the keystone for higher-level tasks such as path planning and autonomous navigation. The past two decades have seen rapid and exciting progress in solving the SLAM problem together with many compelling implementations of SLAM methods. In this paper, we will review the two common families of SLAM algorithms: Kalman filter with its variations and particle filters. This article complements other surveys in this field by reviewing the representative algorithms and the state-of-the-art in each family. It clearly identifies the inherent relationship between the state estimation via the KF versus PF techniques, all of which are derivations of Bayes rule.

Comparison of different SLAM approaches for a driverless race car

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Nick Le Large ◽  
Frank Bieder ◽  
Martin Lauer
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Ground Truth ◽  
Time Constraints ◽  
Differential Gps ◽  
Real World Data ◽  
Race Car ◽  
Localization And Mapping ◽  
Slam Algorithm ◽  
Computational Resources

Abstract For the application of an automated, driverless race car, we aim to assure high map and localization quality for successful driving on previously unknown, narrow race tracks. To achieve this goal, it is essential to choose an algorithm that fulfills the requirements in terms of accuracy, computational resources and run time. We propose both a filter-based and a smoothing-based Simultaneous Localization and Mapping (SLAM) algorithm and evaluate them using real-world data collected by a Formula Student Driverless race car. The accuracy is measured by comparing the SLAM-generated map to a ground truth map which was acquired using high-precision Differential GPS (DGPS) measurements. The results of the evaluation show that both algorithms meet required time constraints thanks to a parallelized architecture, with GraphSLAM draining the computational resources much faster than Extended Kalman Filter (EKF) SLAM. However, the analysis of the maps generated by the algorithms shows that GraphSLAM outperforms EKF SLAM in terms of accuracy.

Accelerating Mobile-Cloud Computing

2015 ◽  
pp. 1933-1955
Author(s):  
Tolga Soyata ◽  
He Ba ◽  
Wendi Heinzelman ◽  
Minseok Kwon ◽  
Jiye Shi
Keyword(s):  
Cloud Computing ◽  
Mobile Devices ◽  
High Speed ◽  
Mobile Cloud Computing ◽  
Response Times ◽  
State Of The Art ◽  
The State ◽  
Mobile Cloud ◽  
Computational Resources ◽  
Traditional Approaches

With the recent advances in cloud computing and the capabilities of mobile devices, the state-of-the-art of mobile computing is at an inflection point, where compute-intensive applications can now run on today's mobile devices with limited computational capabilities. This is achieved by using the communications capabilities of mobile devices to establish high-speed connections to vast computational resources located in the cloud. While the execution scheme based on this mobile-cloud collaboration opens the door to many applications that can tolerate response times on the order of seconds and minutes, it proves to be an inadequate platform for running applications demanding real-time response within a fraction of a second. In this chapter, the authors describe the state-of-the-art in mobile-cloud computing as well as the challenges faced by traditional approaches in terms of their latency and energy efficiency. They also introduce the use of cloudlets as an approach for extending the utility of mobile-cloud computing by providing compute and storage resources accessible at the edge of the network, both for end processing of applications as well as for managing the distribution of applications to other distributed compute resources.

Localization and Mapping for Indoor Navigation

2020 ◽  
pp. 930-954 ◽  
Author(s):  
Heba Gaber ◽  
Mohamed Marey ◽  
Safaa Amin ◽  
Mohamed F. Tolba
Keyword(s):  
System Architecture ◽  
Large Range ◽  
Simultaneous Localization And Mapping ◽  
Indoor Navigation ◽  
Indoor Environments ◽  
Challenging Problem ◽  
Unknown Environments ◽  
Localization And Mapping ◽  
Robotic Missions

Mapping and exploration for the purpose of navigation in unknown or partially unknown environments is a challenging problem, especially in indoor environments where GPS signals can't give the required accuracy. This chapter discusses the main aspects for designing a Simultaneous Localization and Mapping (SLAM) system architecture with the ability to function in situations where map information or current positions are initially unknown or partially unknown and where environment modifications are possible. Achieving this capability makes these systems significantly more autonomous and ideal for a large range of applications, especially indoor navigation for humans and for robotic missions. This chapter surveys the existing algorithms and technologies used for localization and mapping and highlights on using SLAM algorithms for indoor navigation. Also the proposed approach for the current research is presented.

scholarly journals Design and evaluation of a biologically-inspired cloud elasticity framework

2020 ◽  
Vol 23 (4) ◽  
pp. 3095-3117
Author(s):  
Amjad Ullah ◽  
Jingpeng Li ◽  
Amir Hussain
Keyword(s):  
Fuzzy System ◽  
State Of The Art ◽  
The State ◽  
Effective Management ◽  
Biologically Inspired ◽  
Computational Overhead ◽  
Cloud Elasticity ◽  
Computational Resources ◽  
Auto Scaling ◽  
Selection Of

Abstract The elasticity in cloud is essential to the effective management of computational resources as it enables readjustment at runtime to meet application demands. Over the years, researchers and practitioners have proposed many auto-scaling solutions using versatile techniques ranging from simple if-then-else based rules to sophisticated optimisation, control theory and machine learning based methods. However, despite an extensive range of existing elasticity research, the aim of implementing an efficient scaling technique that satisfies the actual demands is still a challenge to achieve. The existing methods suffer from issues like: (1) the lack of adaptability and static scaling behaviour whilst considering completely fixed approaches; (2) the burden of additional computational overhead, the inability to cope with the sudden changes in the workload behaviour and the preference of adaptability over reliability at runtime whilst considering the fully dynamic approaches; and (3) the lack of considering uncertainty aspects while designing auto-scaling solutions. In this paper, we aim to address these issues using a holistic biologically-inspired feedback switch controller. This method utilises multiple controllers and a switching mechanism, implemented using fuzzy system, that realises the selection of suitable controller at runtime. The fuzzy system also facilitates the design of qualitative elasticity rules. Furthermore, to improve the possibility of avoiding the oscillatory behaviour (a problem commonly associated with switch methodologies), this paper integrates a biologically-inspired computational model of action selection. Lastly, we identify seven different kinds of real workload patterns and utilise them to evaluate the performance of the proposed method against the state-of-the-art approaches. The obtained computational results demonstrate that the proposed method results in achieving better performance without incurring any additional cost in comparison to the state-of-the-art approaches.

scholarly journals Incremental predictive clustering trees for online semi-supervised multi-target regression

2020 ◽  
Vol 109 (11) ◽  
pp. 2121-2139
Author(s):  
Aljaž Osojnik ◽  
Panče Panov ◽  
Sašo Džeroski
Keyword(s):  
State Of The Art ◽  
Predictive Performance ◽  
The State ◽  
High Frequencies ◽  
Comparable Performance ◽  
Tree Methods ◽  
Online Setting ◽  
Computational Resources ◽  
Good Predictive Performance ◽  
Predictive Clustering Trees

Abstract In many application settings, labeling data examples is a costly endeavor, while unlabeled examples are abundant and cheap to produce. Labeling examples can be particularly problematic in an online setting, where there can be arbitrarily many examples that arrive at high frequencies. It is also problematic when we need to predict complex values (e.g., multiple real values), a task that has started receiving considerable attention, but mostly in the batch setting. In this paper, we propose a method for online semi-supervised multi-target regression. It is based on incremental trees for multi-target regression and the predictive clustering framework. Furthermore, it utilizes unlabeled examples to improve its predictive performance as compared to using just the labeled examples. We compare the proposed iSOUP-PCT method with supervised tree methods, which do not use unlabeled examples, and to an oracle method, which uses unlabeled examples as though they were labeled. Additionally, we compare the proposed method to the available state-of-the-art methods. The method achieves good predictive performance on account of increased consumption of computational resources as compared to its supervised variant. The proposed method also beats the state-of-the-art in the case of very few labeled examples in terms of performance, while achieving comparable performance when the labeled examples are more common.

scholarly journals An Ant–Based Filtering Random–Finite–Set Approach to Simultaneous Localization and Mapping

2018 ◽  
Vol 28 (3) ◽  
pp. 505-519
Author(s):  
Demeng Li ◽  
Jihong Zhua ◽  
Benlian Xu ◽  
Mingli Lu ◽  
Mingyue Li
Keyword(s):  
Simultaneous Localization And Mapping ◽  
Posterior Density ◽  
Operation System ◽  
Feature Map ◽  
Localization And Mapping ◽  
Finite Set ◽  
Feature Based ◽  
Vehicle Trajectory ◽  
Slam Algorithm ◽  
Random Finite Sets

Abstract Inspired by ant foraging, as well as modeling of the feature map and measurements as random finite sets, a novel formulation in an ant colony framework is proposed to jointly estimate the map and the vehicle trajectory so as to solve a feature-based simultaneous localization and mapping (SLAM) problem. This so-called ant-PHD-SLAM algorithm allows decomposing the recursion for the joint map-trajectory posterior density into a jointly propagated posterior density of the vehicle trajectory and the posterior density of the feature map conditioned on the vehicle trajectory. More specifically, an ant-PHD filter is proposed to jointly estimate the number of map features and their locations, namely, using the powerful search ability and collective cooperation of ants to complete the PHD-SLAM filter time prediction and data update process. Meanwhile, a novel fast moving ant estimator (F-MAE) is utilized to estimate the maneuvering vehicle trajectory. Evaluation and comparison using several numerical examples show a performance improvement over recently reported approaches. Moreover, the experimental results based on the robot operation system (ROS) platform validate the consistency with the results obtained from numerical simulations.

scholarly journals Cooperative Multi-Agent Learning: The State of the Art

2005 ◽  
Vol 11 (3) ◽  
pp. 387-434 ◽  
Author(s):  
Liviu Panait ◽  
Sean Luke
Keyword(s):  
State Of The Art ◽  
The State ◽  
Agent Learning ◽  
Multi Agent

scholarly journals REINFORCEMENT LEARNING HELPS SLAM: LEARNING TO BUILD MAPS

2020 ◽  
Vol XLIII-B4-2020 ◽  
pp. 329-335
Author(s):  
N. Botteghi ◽  
B. Sirmacek ◽  
R. Schulte ◽  
M. Poel ◽  
C. Brune
Keyword(s):  
Reinforcement Learning ◽  
Real Time ◽  
A Priori ◽  
Simultaneous Localization And Mapping ◽  
Indoor Environments ◽  
Robot Localization ◽  
Robust Solution ◽  
Localization And Mapping ◽  
Reward Functions ◽  
Slam Algorithm

Abstract. In this research, we investigate the use of Reinforcement Learning (RL) for an effective and robust solution for exploring unknown and indoor environments and reconstructing their maps. We benefit from a Simultaneous Localization and Mapping (SLAM) algorithm for real-time robot localization and mapping. Three different reward functions are compared and tested in different environments with growing complexity. The performances of the three different RL-based path planners are assessed not only on the training environments, but also on an a priori unseen environment to test the generalization properties of the policies. The results indicate that RL-based planners trained to maximize the coverage of the map are able to consistently explore and construct the maps of different indoor environments.

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