2025/07/31 by Yewei Huang, John McConnell, Huang, Yewei +5
Computer Science · Engineering · #Energy Efficient Wireless Sensor Networks #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robotics (cs.RO) #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.2507.23629
openalex publication_date 2025/07/31 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We present DRACo-SLAM2, a distributed SLAM framework for underwater robot teams equipped with multibeam imaging sonar. This framework improves upon the original DRACo-SLAM by introducing a novel representation of sonar maps as object graphs and utilizing object graph matching to achieve time-efficient inter-robot loop closure detection without relying on prior geometric information. To better-accommodate the needs and characteristics of underwater scan matching, we propose incremental Group-wise Consistent Measurement Set Maximization (GCM), a modification of Pairwise Consistent Measurement Set Maximization (PCM), which effectively handles scenarios where nearby inter-robot loop closures share similar registration errors. The proposed approach is validated through extensive comparative analyses on simulated and real-world datasets.