TY - JOUR
T1 - DiSCo-SLAM
T2 - Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM with Two-Stage Global-Local Graph Optimization
AU - Huang, Yewei
AU - Shan, Tixiao
AU - Chen, Fanfei
AU - Englot, Brendan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2022/4/1
Y1 - 2022/4/1
N2 - We propose a novel framework for distributed,multi-robot SLAM intended for use with 3D LiDAR observations. The framework, DiSCo-SLAM, is the first to use the lightweight Scan Context descriptor for multi-robot SLAM, permitting a data-efficient exchange of LiDAR observations among robots. Additionally, our framework includes a two-stage global and local optimization framework for distributed multi-robot SLAM which provides stable localization results that are resilient to the unknown initial conditions that typify the search for inter-robot loop closures. We compare our proposed framework with the widely used distributed Gauss-Seidel (DGS) approach, over a variety of multi-robot datasets, quantitatively demonstrating its accuracy, stability, and data-efficiency.
AB - We propose a novel framework for distributed,multi-robot SLAM intended for use with 3D LiDAR observations. The framework, DiSCo-SLAM, is the first to use the lightweight Scan Context descriptor for multi-robot SLAM, permitting a data-efficient exchange of LiDAR observations among robots. Additionally, our framework includes a two-stage global and local optimization framework for distributed multi-robot SLAM which provides stable localization results that are resilient to the unknown initial conditions that typify the search for inter-robot loop closures. We compare our proposed framework with the widely used distributed Gauss-Seidel (DGS) approach, over a variety of multi-robot datasets, quantitatively demonstrating its accuracy, stability, and data-efficiency.
KW - Multi-robot SLAM
KW - distributed robot systems
KW - range sensing
UR - http://www.scopus.com/inward/record.url?scp=85122089369&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85122089369&partnerID=8YFLogxK
U2 - 10.1109/LRA.2021.3138156
DO - 10.1109/LRA.2021.3138156
M3 - Article
AN - SCOPUS:85122089369
VL - 7
SP - 1150
EP - 1157
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
ER -