Cooperative Visual Mapping in a Heterogeneous Team of Mobile Robots

Abstract — Mapping is regarded as one of the most fundamental tasks for mobile robots. In this work, we present an approach that enables multiple resource-limited mobile robots to cooperatively build an image-based map of the environment and to afterwards localize in it. To achieve this, we deploy a hierarchical team of mobile robots. A parent robot possesses state-of-the-art sensors, computation power and acts as a leader. It teleoperates small child robots within its line-of-sight. In contrast to other approaches and due to the cooperation among the robots, we can relax the requirement that every robot must be able to self-localize to take part in multi-robot mapping. Additionally, our algorithm ensures the mapping of the entire area in an efficient way, i.e., it fulfills the requirements of area coverage. To test our approach, extensive experiments have been performed both in simulation and real-world. In the latter case, a team of four heterogeneous mobile robots was deployed. Besides the successful cooperation in the robot team, localization results are presented to validate the applicability of the proposed mapping procedure. I