A framework for collaborative multi-robot mapping using spectral graph wavelets
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Author / Producer
Date
2024-11
Publication Type
Journal Article
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yes
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Abstract
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central server to build an optimized global multi-robot map. Naturally, inconsistencies can arise between onboard and server estimates due to onboard odometry drift, failures, or degeneracies. The mapping server can correct and overcome such failure cases using computationally expensive operations such as inter-robot loop closure detection and multi-modal mapping. However, the individual robots do not benefit from the collaborative map if the mapping server provides no feedback. Although server updates from the multi-robot map can greatly alleviate the robotic mission strategically, most existing work lacks them, due to their associated computational and bandwidth-related costs. Motivated by this challenge, this paper proposes a novel collaborative mapping framework that enables global mapping consistency among robots and the mapping server. In particular, we propose graph spectral analysis, at different spatial scales, to detect structural differences between robot and server graphs, and to generate necessary constraints for the individual robot pose graphs. Our approach specifically finds the nodes that correspond to the drift's origin rather than the nodes where the error becomes too large. We thoroughly analyze and validate our proposed framework using several real-world multi-robot field deployments where we show improvements of the onboard system up to 90% and can recover the onboard estimation from localization failures and even from the degeneracies within its estimation.
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Publication status
published
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Editor
Book title
Journal / series
Volume
43 (13)
Pages / Article No.
2070 - 2088
Publisher
SAGE
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Multi-robot mapping; spectral graph theory
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.