1 research outputs found
An Experimental Study of Robust Distributed Multi-Robot Data Association from Arbitrary Poses
2014 International Symposium on Experimental Robotics (ISER 2014), June 15–18, 2014, Morocco.In this work, we experimentally investigate the problem of computing
the relative transformation between multiple vehicles from corresponding interrobot
observations during autonomous operation in a common unknown environment.
Building on our prior work, we consider an EM-based methodology which
evaluates sensory observations gathered over vehicle trajectories to establish robust
relative pose transformations between robots. We focus on experimentally
evaluating the performance of the approach as well as its computational complexity
and shared data requirements using multiple autonomous vehicles (aerial
robots). We describe an observation subsampling technique which utilizes laser
scan autocovariance to reduce the total number of observations shared between
robots. Employing this technique reduces run time of the algorithm significantly,
while only slightly diminishing the accuracies of computed inter-robot transformations.
Finally, we provide discussion on data transfer and the feasibility of
implementing the approach on a mesh network