Overview
ABSTRACT
This article deals with simultaneous localization and mapping in a multirobot context. As soon as several robots interact together in the same environment, several questions may arise: what localization strategy? Should we use a centralized system? What data are exchanged between robots? The first part of this article is an overview of the main localization and mapping systems. The second section deals with specification of multirobot systems and deployment policies. The third part presents the most widely used approaches for multirobot localization and mapping. The article ends with illustrations of industrial applications.
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Read the articleAUTHORS
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Philippe LUCIDARME : Senior Lecturer - Laboratoire Angevin de Recherche en Ingénierie des Systèmes (LARIS), University of Angers, Angers, France
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Olivier SIMONIN : University Professor - CITI-Inria Laboratory, INSA de Lyon, University of Lyon, France
INTRODUCTION
Deploying autonomous robots in an unknown or partially destroyed environment is a major challenge for our societies: sensitive or dangerous sites for humans are a good illustration. This article focuses on a central issue of this challenge, namely the ability of mobile robots to autonomously explore and construct a map of an unknown environment. The article is organized in three parts. First, we present the SLAM function (Simultaneous Localization And Mapping – Cartographie et localisation simultanées), which generates a map from the fusion of data perceived by the robot(s). We then introduce the multi-robot context by considering, on the one hand, the communication and processing organization prerequisites within a fleet and, on the other, the deployment strategy aspects, which ensure efficient and coordinated coverage of the environment. Based on these elements, we then present the various techniques for implementing a multi-robot SLAM. The article concludes with a set of illustrations of multi-robot SLAM applications in industrial and academic contexts.
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KEYWORDS
communication | SLAM | Mobile robotics | Coordination | Mapping
Simultaneous multi-robot mapping and localization
A reminder of single-bot SLAM
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