An architecture for multi-robot localization and mapping in the Gazebo/Robot Operating System simulation environment

Abstract

Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of these systems. The Robot Operating System (ROS) is becoming a standard platform for the robotics research community for both physical robots and simulation environments. Gazebo, with connectivity to the ROS, is a three-dimensional simulation environment that is also becoming a standard. Several simultaneous localization and mapping algorithms are implemented in the ROS; however, there is no multi-robot mapping implementation. In this work, two multi-robot mapping algorithm implementations are presented, namely multi-robot gMapping and multi-robot Hector Mapping. The multi-robot implementations are tested in the Gazebo simulation environment. Also, in order to achieve a more realistic simulation, every incremental robot movement is modeled with rotational and translational noise.

AiRobSim: Simulating a Multisensor Aerial Robot for Urban Search and Rescue Operation and Training

“…Hayat et al [ 34 ] proposed a multi-objective path planning algorithm for SaR, and tested it with a UAV swarm in simulation. Similar studies also include References [ 35 , 36 ]. Ding et al [ 37 ] developed a virtual prototype of a hydraulic exoskeleton robot in simulation software ADAMS (automatic dynamic analysis of mechanical systems) and analyzed its dynamic behaviors.…”

Pemanfaatan Middleware Robot Operating System (Ros) Dalam Menjawab Tantangan Revolusi Industri 4.0

“…ROS adalah middleware robot yang bersifat open source serta memiliki seperangkat tools dan library yang digunakan untuk membuat perangkat lunak robot [23], [24], [25], [26]. ROS telah diaplikasikan untuk mengontrol sistem robotika [27], [28] dan dapat digunakan untuk membuat simulasi robot [8], [29], [30]. ROS berjalan di atas sistem operasi Linux dan dapat dioperasikan pada Raspberry Pi.…”

Robot Operating System (Ros) Dan Gazebo Sebagai Media Pembelajaran Robot Interaktif

“…Pada penulisan ini peneliti akan memaparkan bagaimana ROS dan Gazebo dapat digunakan sebagai media pembelajaran robot interaktif dengan melihat beberapa penelitian terkait serta mensimulasikan sebuah mobile robot yang dapat menghindar dari benda ketika beroperasi menggunakan sensor Lidar dan kamera. [17].…”