相关论文: A Resource-Aware Approach to Collaborative Loop Cl…

Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…

A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…

Autonomous exploration for mapping unknown large scale environments is a fundamental challenge in robotics, with efficiency in time, stability against map corruption and computational resources being crucial. This paper presents a novel…

Visual simultaneous localization and mapping (SLAM) systems face challenges in detecting loop closure under the circumstance of large viewpoint changes. In this paper, we present an object-based loop closure detection method based on the…

Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…

There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…

In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…

Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…

Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…

This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…

This paper presents a reliable method to verify the existence of loops along the uncertain trajectory of a robot, based on proprioceptive measurements only, within a bounded-error context. The loop closure detection is one of the key points…

Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…

In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…

Data association in SLAM is fundamentally challenging, and handling ambiguity well is crucial to achieve robust operation in real-world environments. When ambiguous measurements arise, conservatism often mandates that the measurement is…

In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure constraints across time and robots. In particular, we…

Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…

The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS trajectories from OpenStreetMap (OSM), is often used to guide…

This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…

Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the loop closure problem,…

In this paper we present a novel framework for unsupervised topological clustering resulting in improved loop. In this paper we present a novel framework for unsupervised topological clustering resulting in improved loop detection and…