相关论文: Maplets: An Efficient Approach for Cooperative SLA…

Collaborative SLAM enables a group of agents to simultaneously co-localize and jointly map an environment, thus paving the way to wide-ranging applications of multi-robot perception and multi-user AR experiences by eliminating the need for…

Multipath-based simultaneous localization and mapping (SLAM) is an emerging paradigm for accurate indoor localization with limited resources. The goal of multipath-based SLAM is to detect and localize radio reflective surfaces to support…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…

Multi-agent coordination is prevalent in many real-world applications. However, such coordination is challenging due to its combinatorial nature. An important observation in this regard is that agents in the real world often only directly…

Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulties in large-scale scenes and long…

This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…

Multi-Agent Path Finding (MAPF) involves determining paths for multiple agents to travel simultaneously and collision-free through a shared area toward given goal locations. This problem is computationally complex, especially when dealing…

This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…

In recent years, we have observed a clear trend in the rapid rise of autonomous vehicles, robotics, virtual reality, and augmented reality. The core technology enabling these applications, Simultaneous Localization And Mapping (SLAM),…

Local feature matching aims at establishing sparse correspondences between a pair of images. Recently, detector-free methods present generally better performance but are not satisfactory in image pairs with large scale differences. In this…

We investigate multi-agent navigation tasks, where multiple agents need to reach initially unassigned goals in a limited time. Classical planning-based methods suffer from expensive computation overhead at each step and offer limited…

The Collaborative Task Sequencing and Multi-Agent Path Finding (CTS-MAPF) problem requires agents to accomplish sequences of tasks while avoiding collisions, posing significant challenges due to its combinatorial complexity. This work…

This paper introduces a novel incremental distributed back-end algorithm for Collaborative Simultaneous Localization and Mapping (C-SLAM). For real-world deployments, robotic teams require algorithms to compute a consistent state estimate…

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…

Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…

This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit scene representation, 3DGS has enabled unprecedented…

Large language models (LLMs) are increasingly deployed in teams, yet existing coordination approaches often occupy two extremes. Highly structured methods rely on fixed roles, pipelines, or task decompositions assigned a priori. In…

Multi-Agent Path Finding (MAPF) is a critical component of logistics and warehouse management, which focuses on planning collision-free paths for a team of robots in a known environment. Recent work introduced a novel MAPF approach, LNS2,…

Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…