Multi Robot Localization and Mapping Based on Signed Distance Functions
This publication describes a 2D Simultaneous Localization and Mapping approach applicable to multiple mobile robots. The presented strategy uses data of 2D LIDAR sensors to build a dynamic representation based on Signed Distance Functions. Novelties of the approach are a joint map built in parallel instead of occasional merging of smaller maps and the limited drift localization which requires no loop closure detection. A multi threaded software architecture performs registration and data integration in parallel allowing for drift reduced pose estimation of multiple robots. Experiments are provided demonstrating the application with single and multiple robot mapping using simulated data, public accessible recorded data, two actual robots operating in a comparably large area as well as a deployment of these units at the Robocup rescue league.
J. Intell. Robotic Syst.