Title:
Local Exponential Maps: Towards Massively Distributed Multi-robot Mapping
Local Exponential Maps: Towards Massively Distributed Multi-robot Mapping
Author(s)
Dellaert, Frank
Fathi, Alireza
Cunningham, Alex
Paluri, Balmanohar
Ni, Kai
Fathi, Alireza
Cunningham, Alex
Paluri, Balmanohar
Ni, Kai
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Abstract
We present a novel paradigm for massively distributed,
large-scale multi-robot mapping. Our goal is to explore
techniques that can support continuous mapping over an
indefinite amount of time. We argue that to scale to city or
even global scales the concept of a single globally consistent map
has to be abandoned, and present an infrastructure-supported
solution where most of the inference and map-maintenance is
done on local "map-servers", rather than on the robot itself.
The main technical contribution in the paper is a factor-graph-based
scheme for making this possible, and a novel local map
representation, local exponential maps, that enable indefinite
map updates while remaining self-consistent over time. We
present initial experimental results both in simulation and using
real data, although a full-scale deployment and evaluation of
the technique is left for future work.
Sponsor
National Science Foundation
Date Issued
2010
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Text
Resource Subtype
Technical Report