Advertisement

Towards Cooperative and Decentralized Mapping in the Jacobs Virtual Rescue Team

  • Max Pfingsthorn
  • Yashodhan Nevatia
  • Todor Stoyanov
  • Ravi Rathnam
  • Stefan Markov
  • Andreas Birk
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5399)

Abstract

The task of mapping and exploring an unknown environment remains one of the fundamental problems of mobile robotics. It is a task that can intuitively benefit significantly from a multi-robot approach. In this paper, we describe the design of the multi-robot mapping system used in the Jacobs Virtual Rescue team. The team competed in the World Cup 2007 and won the second place. It is shown how the recently proposed pose graph map representation facilitates not only map merging but also allows transmitting map updates efficiently.

Keywords

Multiple Robot Occupancy Grid Single Robot Robot Team Aerial Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Wang, J., Lewis, M.: Human control for cooperating robot teams. In: HRI 2007: Proceeding of the ACM/IEEE international conference on Human-robot interaction, pp. 9–16. ACM Press, New York (2007)CrossRefGoogle Scholar
  2. 2.
    Elfes, A., Dolan, J., Podnar, G., Mau, S., Bergerman, M.: Safe and efficient robotic space exploration with tele-supervised autonomous robots. In: Proceedings of the AAAI Spring Symposium, pp. 104–113 (March 2006) (to appear)Google Scholar
  3. 3.
    Brookshire, J., Singh, S., Simmons, R.: Preliminary results in sliding autonomy for coordinated teams. In: Proceedings of The 2004 Spring Symposium Series (March 2004)Google Scholar
  4. 4.
    Fox, D., Ko, J., Konolige, K., Limketkai, B., Schulz, D., Stewart, B.: Distributed multirobot exploration and mapping. Proceedings of the IEEE 94(7), 1325–1339 (2006)CrossRefzbMATHGoogle Scholar
  5. 5.
    Thrun, S., Burgard, W., Fox, D.: A real-time algorithm for mobile robot mapping with applications to multi-robot and 3d mapping. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 321–328 (2000)Google Scholar
  6. 6.
    Ko, J., Stewart, B., Fox, D., Konolige, K., Limketkai, B.: A practical, decision-theoretic approach to multi-robot mapping and exploration. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2003)Google Scholar
  7. 7.
    Williams, S.B., Dissanayake, G., Durrant-Whyte, H.: Towards multi-vehicle simultaneous localisation and mapping. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation, ICRA. IEEE Computer Society Press, Los Alamitos (2002)Google Scholar
  8. 8.
    Fenwick, J.W., Newman, P.M., Leonard, J.J.: Cooperative concurrent mapping and localization. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation, ICRA. IEEE Computer Society Press, Los Alamitos (2002)Google Scholar
  9. 9.
    Roy, N., Dudek, G.: Collaborative exploration and rendezvous: Algorithms, performance bounds and observations. Autonomous Robots 11 (2001)Google Scholar
  10. 10.
    Thrun, S.: A probabilistic online mapping algorithm for teams of mobile robots. International Journal of Robotics Research 20(5), 335–363 (2001)CrossRefGoogle Scholar
  11. 11.
    Burgard, W., Fox, D., Moors, M., Simmons, R., Thrun, S.: Collaborative multi-robot exploration. In: Proceedings of the IEEE International Conference on Robotics and Automation. IEEE Press, Los Alamitos (2000)Google Scholar
  12. 12.
    Simmons, R.G., Apfelbaum, D., Burgard, W., Fox, D., Moors, M., Thrun, S., Younes, H.L.S.: Coordination for multi-robot exploration and mapping. In: Proceedings of the Seventeenth National Conference on Artificial Intelligence, pp. 852–858 (2000)Google Scholar
  13. 13.
    Fox, D., Burgard, W., Kruppa, H., Thrun, S.: A probabilistic approach to collaborative multi-robot localization. Automous Robots, Special Issue on Heterogeneous Multi-Robot Systems 8(3), 325–344 (2000)Google Scholar
  14. 14.
    Carpin, S., Lewis, M., Wang, J., Balakirsky, S., Scrapper, C.: Bridging the gap between simulation and reality in urban search and rescue. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds.) RoboCup 2006: Robot Soccer World Cup X. LNCS (LNAI), vol. 4434, pp. 1–12. Springer, Heidelberg (2007)CrossRefGoogle Scholar
  15. 15.
    Grisetti, G., Stachniss, C., Burgard, W.: Improving grid-based slam with rao-blackwellized particle filters by adaptive proposals and selective resampling. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA (2005)Google Scholar
  16. 16.
    Olson, E., Leonard, J., Teller, S.: Fast iterative alignment of pose graphs with poor initial estimates. In: Leonard, J. (ed.) Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006, pp. 2262–2269 (2006)Google Scholar
  17. 17.
    Pfingsthorn, M., Slamet, B., Visser, A.: A scalable hybrid multi-robot slam method for highly detailed maps. In: Visser, U., Ribeiro, F., Ohashi, T., Dellaert, F. (eds.) RoboCup 2007: Robot Soccer World Cup XI. LNCS (LNAI), vol. 5001, pp. 457–464. Springer, Heidelberg (2008)CrossRefGoogle Scholar
  18. 18.
    Olson, E., Leonard, J., Teller, S.: Spatially-adaptive learning rates for online incremental slam. In: Proceedings of Robotics: Science and Systems, Atlanta, GA, USA (June 2007)Google Scholar
  19. 19.
    Olson, E., Walter, M., Teller, S., Leonard, J.: Single-cluster spectral graph partitioning for robotics applications. In: Proceedings of Robotics: Science and Systems, Cambridge, USA (June 2005)Google Scholar
  20. 20.
    Grisetti, G., Stachniss, C., Grzonka, S., Burgard, W.: A tree parameterization for efficiently computing maximum likelihood maps using gradient descent. In: Proceedings of Robotics: Science and Systems, Atlanta, GA, USA (June 2007)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Max Pfingsthorn
    • 1
  • Yashodhan Nevatia
    • 1
  • Todor Stoyanov
    • 1
  • Ravi Rathnam
    • 1
  • Stefan Markov
    • 1
  • Andreas Birk
    • 1
  1. 1.Jacobs University BremenBremenGermany

Personalised recommendations