Cooperative 3D and 2D mapping with heterogenous ground robots

Rogers, John G.; Baran, David; Stump, Ethan; Young, Stuart H.; Christensen, Henrik I.

doi:10.1117/12.919270

Cited by 4 publications

(3 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Work on target identification [27], workload balancing [28], task completion optimization [29] and communications constraints [30] has also been undertaken. Collaborative, multi-robot map creation strategies [31] have also been discussed.…”

Section: Autonomous Command and Supporting Technologiesmentioning

confidence: 99%

Analysis of mutual assured destruction-like scenario with swarms of non-recallable autonomous robots

Straub

2015

SPIE Proceedings

View full text Add to dashboard Cite

This paper considers the implications of the creation of an autonomous robotic fighting force without recall-ability which could serve as a deterrent to a 'total war' magnitude attack. It discusses the technical considerations for this type of robotic system and the limited enhancements required to current technologies (particularly UAVs) needed to create such a system. Particular consideration is paid to how the introduction of this type of technology by one actor could create a need for reciprocal development. Also considered is the prospective utilization of this type of technology by non-state actors and the impact of this on state actors.

show abstract

Section: Autonomous Command and Supporting Technologiesmentioning

confidence: 99%

Analysis of mutual assured destruction-like scenario with swarms of non-recallable autonomous robots

Straub

2015

SPIE Proceedings

View full text Add to dashboard Cite

show abstract

“…There are solutions that implemented cooperative indoor mapping by using only UGVs [15][16][17][18][19]. In [15], heterogeneous robots were used in 2D and 3D area mapping using laser scanners, performing 3D and 2D cooperative mapping via autonomous agent navigation. Here, each robot builds a local map and sends the relevant data to a central server, where the data are joined with existing data using join-compatibility branch and bound (JCBB) implementation.…”

Section: Multiple Robots In Environment Mappingmentioning

confidence: 99%

Honeycomb Map: A Bioinspired Topological Map for Indoor Search and Rescue Unmanned Aerial Vehicles

Rosa

Wehrmeister

Brito

et al. 2020

Sensors

View full text Add to dashboard Cite

The use of robots to map disaster-stricken environments can prevent rescuers from being harmed when exploring an unknown space. In addition, mapping a multi-robot environment can help these teams plan their actions with prior knowledge. The present work proposes the use of multiple unmanned aerial vehicles (UAVs) in the construction of a topological map inspired by the way that bees build their hives. A UAV can map a honeycomb only if it is adjacent to a known one. Different metrics to choose the honeycomb to be explored were applied. At the same time, as UAVs scan honeycomb adjacencies, RGB-D and thermal sensors capture other data types, and then generate a 3D view of the space and images of spaces where there may be fire spots, respectively. Simulations in different environments showed that the choice of metric and variation in the number of UAVs influence the number of performed displacements in the environment, consequently affecting exploration time and energy use.

show abstract

“…In Rogers et al (2012), we described an extension to the Omni-Mapper system for multi-robot mapping. Each robot in the team runs an instance of Omni-Mapper with some set of mapping plugins.…”

Section: Technical Approachmentioning

confidence: 99%

Coordination strategies for multi-robot exploration and mapping

Nieto-Granda

Rogers

Christensen

2014

The International Journal of Robotics Research

View full text Add to dashboard Cite

Situational awareness in rescue operations can be provided by teams of autonomous mobile robots. Human operators are required to teleoperate the current generation of mobile robots for such applications; however, teleoperation is increasingly difficult as the number of robots is expanded. As the number of robots is increased, each robot may also interfere with one another and eventually decrease mapping performance. As presented here, through careful consideration of robot team coordination and exploration strategy, large numbers of mobile robots can be allocated to accomplish the mapping task more quickly and accurately. We present both the coordination and exploration strategies and present results from experiments in simulation as well as with up to nine mobile platforms.

show abstract

Cooperative 3D and 2D mapping with heterogenous ground robots

Cited by 4 publications

References 9 publications

Analysis of mutual assured destruction-like scenario with swarms of non-recallable autonomous robots

Analysis of mutual assured destruction-like scenario with swarms of non-recallable autonomous robots

Honeycomb Map: A Bioinspired Topological Map for Indoor Search and Rescue Unmanned Aerial Vehicles

Coordination strategies for multi-robot exploration and mapping

Contact Info

Product

Resources

About