Skip to main content

Towards Collaborative Mapping and Exploration Using Multiple Micro Aerial Robots

  • Chapter
  • First Online:
Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 109))

Abstract

In this paper, we present a system for collaborative mapping and exploration with multiple quad rotor robots. The basic architecture and development of the algorithms for mapping and exploration validate our system with both simulation and real-world experiments. We utilize the 2.5-D structure of typical indoor environments and demonstrate the deployment of multiple autonomous quadrotors equipped with IMUs and laser scanners engaged in collaborative exploration. Estimation, control and planing algorithms are highly integrated in our system to achieve robust and efficient exploration behaviors.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Shen, S., Mulgaonkar, Y., Michael, N., Kumar, V.: Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft mav. In: 2014 IEEE International Conference on Robotics and automation (ICRA). IEEE (2014)

    Google Scholar 

  2. Howard, A.: Multi-robot simultaneous localization and mapping using particle filters. Int. J. Robot. Res. 25(12), 1243–1256 (2006)

    Article  Google Scholar 

  3. Thrun, S., Liu, Y.: Multi-robot slam with sparse extended information filers. In: Robotics Research, pp. 254–266. Springer (2005)

    Google Scholar 

  4. Shen, S., Michael, N., Kumar, V.: Stochastic differential equation-based exploration algorithm for autonomous indoor 3d exploration with a micro-aerial vehicle. I. J. Robot. Res. 31(12), 1431–1444 (2012)

    Article  Google Scholar 

  5. Durrant-Whyte, H., Bailey, T.: Simultaneous localization and mapping: Part I. IEEE Robot. Autom. Mag. 13(2), 99–110 (2006)

    Article  Google Scholar 

  6. Dellaert, F., Kaess, M.: Square root sam: simultaneous localization and mapping via square root information smoothing. Int. J. Robot. Res. 25(12), 1181–1203 (2006)

    Article  MATH  Google Scholar 

  7. Shen, S., Michael, N., Kumar, V.: Autonomous multi-floor indoor navigation with a computationally constrained mav. In: 2011 IEEE International Conference on Robotics and automation (ICRA), pp. 20–25. IEEE (2011)

    Google Scholar 

  8. Stachniss, C., Kretzschmar, H.: Pose graph compression for laser-based slam. In: International Symposium of Robotics Research (ISRR) (2011)

    Google Scholar 

  9. Van Der Merwe, R., Wan, E.A.: Sigma-point kalman filters for integrated navigation. In: Institute of Navigation (ION) (2004)

    Google Scholar 

  10. Michael, N., Mellinger, D., Lindsey, Q., Kumar, V.: The grasp multiple micro-uav testbed. IEEE Robot. Autom. Mag. 17(3), 56–65 (2010)

    Article  Google Scholar 

  11. Lee, T., Leoky, M., McClamroch, N.H.: Geometric tracking control of a quadrotor uav on se (3). In: 2010 49th IEEE Conference on Decision and Control (CDC), pp. 5420–5425. IEEE (2010)

    Google Scholar 

  12. Shen, S., Michael, N., Kumar, V.: Autonomous indoor 3d exploration with a micro-aerial vehicle. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), May 2012, pp. 9–15

    Google Scholar 

  13. Bachrach, A., He, R., Roy, N.: Autonomous flight in unknown indoor environments. Int. J. Micro Air Veh. 1(4), 217–228 (2009)

    Article  Google Scholar 

  14. Kim, B., Kaess, M., Fletcher, L., Leonard, J., Bachrach, A., Roy, N., Teller, S.: Multiple relative pose graphs for robust cooperative mapping. In: 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 3185–3192. IEEE (2010)

    Google Scholar 

  15. Rogers, J.G., Nieto-Granda, C., Christensen, H.I.: Coordination strategies for multi-robot exploration and mapping (2012)

    Google Scholar 

  16. Trevor, A.J.B., Rogers III J.G., Christensen, H.I.: Omnimapper: a modular multimodal mapping framework. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE (2014)

    Google Scholar 

  17. Dellaert, F.: Factor graphs and gtsam: a hands-on introduction (2012)

    Google Scholar 

  18. Cunningham, A., Paluri, M., Dellaert, F.: Ddf-sam: fully distributed slam using constrained factor graphs. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3025–3030. IEEE (2010)

    Google Scholar 

  19. Censi, A.: An icp variant using a point-to-line metric. In: IEEE International Conference on Robotics and Automation, ICRA 2008, pp. 19–25. IEEE (2008)

    Google Scholar 

  20. Kaess, M., Ranganathan, A., Dellaert, F.: isam: Incremental smoothing and mapping. IEEE Trans. Robot. 24(6), 1365–1378 (2008)

    Article  Google Scholar 

  21. Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J.J., Dellaert, F.: isam2: Incremental smoothing and mapping using the bayes tree. Int. J. Robot. Res. 31(2), 216–235 (2012)

    Article  Google Scholar 

  22. Karaman, S., Frazzoli, E.: Sampling-based algorithms for optimal motion planning. Int. J. Robot. Res. 30(7), 846–894 (2011)

    Article  MATH  Google Scholar 

  23. Sucan, I., Moll, M., Kavraki, E.: The open motion planning library. IEEE Robot. Autom. Mag. 19(4), 72–82 (2012)

    Article  Google Scholar 

Download references

Acknowledgments

We gratefully acknowledge support from ARL Micro Autonomous Systems and Technology Collaborative Technology Alliance Grant no. W911NF-08-2-0004.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Sikang Liu .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Liu, S., Mohta, K., Shen, S., Kumar, V. (2016). Towards Collaborative Mapping and Exploration Using Multiple Micro Aerial Robots. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_57

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-23778-7_57

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23777-0

  • Online ISBN: 978-3-319-23778-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics