Trust But Verify: A Distributed Algorithm for Multi-Robot Wireframe Exploration and Mapping
Trust But Verify: A Distributed Algorithm for Multi-Robot Wireframe Exploration and Mapping
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DOI：
10.1109/iros40897.2019.8967932
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发表时间：
2019-11
期刊：
影响因子：
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通讯作者：
Adam Caccavale;M. Schwager
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文献类型：
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作者：
Adam Caccavale;M. Schwager
本文提出了一种新颖的分布式映射算法，适用于在直线 2D 环境中运行的多个资源受限机器人。该算法建立在[1]中的稀疏线框地图表示和更新框架之上。我们提出了一种基于线框地图中顶点标记的探索策略，并结合了当机器人进入彼此通信范围时激活的地图合并中断例程。地图并不是天真的合并的，而是接收机器人在吸收信息之前通过尝试行驶到建立通信时另一个机器人所在的位置来验证接收到的信息。机器人不共享全局坐标系，因此在合并之前确定相对地图对齐。这是通过使用随机样本共识 (RANSAC) 框架和自定义功能来实现的，该框架利用了线框地图表示中固有的结构。与点云对齐中使用的另一种最先进的功能（4 点全等集 (4PCS)）相比，这会导致误报匹配率较低。我们展示了我们的特征对假阳性对齐更加鲁棒，这是尝试对齐线框图等稀疏结构时常见的情况。我们在 ROS-Gazebo 环境中使用配备激光雷达的 TurtleBots1 展示高保真模拟结果，以突出我们算法的优势。1TurtleBot3 汉堡配置 www.turtlebot.com
This paper presents a novel distributed mapping algorithm for multiple resource-constrained robots operating in a rectilinear 2D environment. The algorithm is built upon the sparse wireframe map representation and updating framework in [1]. We propose an exploration strategy based on the labeling of the vertices in the wireframe map, combined with a map-merging interrupt routine that is activated when robots enter into communication range with one another. The maps are not naively merged, but instead the receiving robot verifies the received information before it is assimilated by attempting to drive to the location where the other robot was when communication was established. The robots do not share a global coordinate frame, so prior to a merge the relative map alignment is determined. This is achieved using the random sample consensus (RANSAC) framework with a custom feature which leverages the structure inherent in the wireframe map representation. This results in a lower rate of false-positive matches compared to another state-of-the-art feature used in point cloud alignment, the 4-point congruent set (4PCS). We show our feature to be more robust to false-positive alignments, a common occurrence when attempting to align sparse structures such as wireframe maps. We present high fidelity simulation results in a ROS-Gazebo environment with lidar-equipped TurtleBots1 to highlight the benefits of our algorithm.1The TurtleBot3 burger configuration www.turtlebot.com