Paper Reading AI Learner

DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams

2022-10-03 12:30:21
John McConnell, Yewei Huang, Paul Szenher, Ivana Collado-Gonzalez, Brendan Englot

Abstract

An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the team members. However, this has primarily been achieved with direct rendezvous between underwater robots, via inter-robot ranging. We propose a novel distributed multi-robot simultaneous localization and mapping (SLAM) framework for underwater robots using imaging sonar-based perception. By passing only scene descriptors between robots, we do not need to pass raw sensor data unless there is a likelihood of inter-robot loop closure. We utilize pairwise consistent measurement set maximization (PCM), making our system robust to erroneous loop closures. The functionality of our system is demonstrated using two real-world datasets, one with three robots and another with two robots. We show that our system effectively estimates the trajectories of the multi-robot system and keeps the bandwidth requirements of inter-robot communication low. To our knowledge, this paper describes the first instance of multi-robot SLAM using real imaging sonar data (which we implement offline, using simulated communication). Code link: this https URL.

Abstract (translated)

URL

https://arxiv.org/abs/2210.00867

PDF

https://arxiv.org/pdf/2210.00867.pdf


Tags
3D Action Action_Localization Action_Recognition Activity Adversarial Agent Attention Autonomous Bert Boundary_Detection Caption Chat Classification CNN Compressive_Sensing Contour Contrastive_Learning Deep_Learning Denoising Detection Dialog Diffusion Drone Dynamic_Memory_Network Edge_Detection Embedding Embodied Emotion Enhancement Face Face_Detection Face_Recognition Facial_Landmark Few-Shot Gait_Recognition GAN Gaze_Estimation Gesture Gradient_Descent Handwriting Human_Parsing Image_Caption Image_Classification Image_Compression Image_Enhancement Image_Generation Image_Matting Image_Retrieval Inference Inpainting Intelligent_Chip Knowledge Knowledge_Graph Language_Model Matching Medical Memory_Networks Multi_Modal Multi_Task NAS NMT Object_Detection Object_Tracking OCR Ontology Optical_Character Optical_Flow Optimization Person_Re-identification Point_Cloud Portrait_Generation Pose Pose_Estimation Prediction QA Quantitative Quantitative_Finance Quantization Re-identification Recognition Recommendation Reconstruction Regularization Reinforcement_Learning Relation Relation_Extraction Represenation Represenation_Learning Restoration Review RNN Salient Scene_Classification Scene_Generation Scene_Parsing Scene_Text Segmentation Self-Supervised Semantic_Instance_Segmentation Semantic_Segmentation Semi_Global Semi_Supervised Sence_graph Sentiment Sentiment_Classification Sketch SLAM Sparse Speech Speech_Recognition Style_Transfer Summarization Super_Resolution Surveillance Survey Text_Classification Text_Generation Tracking Transfer_Learning Transformer Unsupervised Video_Caption Video_Classification Video_Indexing Video_Prediction Video_Retrieval Visual_Relation VQA Weakly_Supervised Zero-Shot