This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation log-likelihood of each robot subject to a map consensus constraint to build a common multi-class map of the environment. This formulation leads to closed-form updates which resemble Bayes rule with one-hop prior averaging. To reduce the amount of information exchanged among the robots, we utilize an octree data structure that compresses the multi-class map distribution using adaptive-resolution.
@article{arxiv.2402.08867,
title = {Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping},
author = {Arash Asgharivaskasi and Nikolay Atanasov},
journal= {arXiv preprint arXiv:2402.08867},
year = {2024}
}