2017/09/19 by Matthew Giamou, Giamou, Matthew, Kasra Khosoussi +3
Engineering · Computer Science · #Robotics and Sensor-Based Localization #Indoor and Outdoor Localization Technologies #Target Tracking and Data Fusion in Sensor Networks
paper · pdf · doi:10.48550/arxiv.1709.06675
Due to the distributed nature of cooperative simultaneous localization and\nmapping (CSLAM), detecting inter-robot loop closures necessitates sharing\nsensory data with other robots. A na " ive approach to data sharing can\neasily lead to a waste of mission-critical resources. This paper investigates\nthe logistical aspects of CSLAM. Particularly, we present a general\nresource-efficient communication planning framework that takes into account\nboth the total amount of exchanged data and the induced division of labor\nbetween the participating robots. Compared to other state-of-the-art\napproaches, our framework is able to verify the same set of potential\ninter-robot loop closures while exchanging considerably less data and\ninfluencing the induced workloads. We develop a fast algorithm for finding\nglobally optimal communication policies, and present theoretical analysis to\ncharacterize the necessary and sufficient conditions under which simpler\nstrategies are optimal. The proposed framework is extensively evaluated with\ndata from the KITTI odometry benchmark datasets.\n