张宁 Collaborative Mapping with Pose Uncertainties using different Radio Frequencies and Communication Modules
使用不同的无线电频率和通信模块进行姿势不确定性的协作建图
链接：https://pan.baidu.com/s/10z34W36Aa3bwxJzykh7ZcA
提取码：4ubw
Cornelia Schulz, Richard Hanten, Matthias Reisenauer and Andreas Zell
Many robotic applications, especially exploration scenarios, benefit from deploying multiple collaborating robots with the aim of parallelizing and therefore accelerating the involved task. One critical part of a multi-robot system is its communication system. Depending on the application scenario, high-bandwidth wireless connections, such as WiFi, may not always be available and suffer from a limited communication range. On the other hand, low-bandwith systems require the application itself to deal with limited information exchange. In this work, we present a novel approach for collaborative mapping using mixtures of occupancy and NDT maps (called ONDT), which provide detailed information at low resolutions and in which the pose uncertainty can be encoded efficiently. Further, we compare the applicability of three different radio frequency modules operating at different frequencies in real world experiments with five robots at large distances.
许多机器人应用程序，特别是探索场景，都受益于部署多个协作机器人，目的是并行化并因此加速所涉及的任务。多机器人系统的关键部分是其通信系统。根据应用场景，诸如WiFi之类的高带宽无线连接可能并不总是可用，并且通信范围有限。另一方面，低带宽系统要求应用程序本身处理有限的信息交换。在这项工作中，我们提出了一种使用占用率和NDT建图（称为ONDT）的混合物进行协作建图的新颖方法，该方法以低分辨率提供详细信息，并且可以有效地编码姿态不确定性。