mrgs: A Multi-Robot SLAM Framework for ROS with Efficient Information Sharing

G. S. Martins, D. Portugal and R. P. Rocha

In A. Koubaa (editor), Robot Operating System (ROS), Studies in Computational Intelligence, vol 895, pp. 45-75, Springer, Cham, 2021. DOI: 10.1007/978-3-030-45956-7_3

Abstract

The exploration of unknown environments is a particularly and intuitively detachable problem, allowing the division of robotic teams into smaller groups, or even into individuals, which explore different areas in the environment. While exploring, the team can discretely reassemble and build a joint representation of the region. However, this approach gives rise to a new set of problems, such as communication, synchronization and information fusion. This work presents mrgs, an open source framework for Multi-Robot SLAM. We propose a solution that seeks to provide any system capable of performing single-robot SLAM with the ability to efficiently communicate with its teammates and to build a global representation of the environment based on the information it exchanges with its peers. The solution is validated through experiments conducted over real-world data and we analyze its performance in terms of scalability and communication efficiency.

Index Terms — SLAM; Multi-Robot; ROS; Open source software; Efficient information sharing.

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BibTeX

@INCOLLECTION(Martins_et_al_21,

AUTHOR = "Martins, G. and Portugal, D. and Rocha, R. P.",

TITLE = "mrgs: A Multi-Robot SLAM Framework for ROS with Efficient Information Sharing",

BOOKTITLE = "Robot Operating System (ROS), Studies in Computational Intelligence",

PUBLISHER = "Springer",

YEAR = "2021",

PAGES = "45-75",

EDITOR = "Koubaa, A."

)

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Last update: 20/02/2021