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Fully Onboard SLAM for Distributed Mapping with a Swarm of Nano-Drones
(2023)arXivThe use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and reduce mission latency, swarms of collaborating drones have become a significant research direction. However, this approach requires open challenges in positioning, mapping, and communications to be ...Working Paper -
NanoSLAM: Enabling Fully Onboard SLAM for Tiny Robots
(2023)arXivPerceiving and mapping the surroundings are essential for enabling autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is Simultaneous Localization and Mapping (SLAM). Today, fully onboard mapping is only achievable on robotic platforms that can host high-wattage processors, mainly due to the significant computational load ...Working Paper