Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection

Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection

Inter-robot loop closure detection is a core problem in collaborative SLAM (CSLAM). Establishing inter-robot loop closures is a resource-demanding process, during which robots must consume a substantial amount of mission-critical resources (e.g., battery and bandwidth) to exchange sensory data. Howe...

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Bibliographic Details
Main Authors: Tian, Yulun, Khosoussi, Kasra, Giamou, Matthew, How, Jonathan, Kelly, Jonathan
Other Authors: Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Format: Article
Language:English
Published: Robotics: Science and Systems Foundation 2021
Online Access:https://hdl.handle.net/1721.1/134946

Internet

https://hdl.handle.net/1721.1/134946

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