Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop closure candidates becomes computationally infeasible. In...

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Bibliographic Details
Main Authors: Denniston, Christopher E, Chang, Yun, Reinke, Andrzej, Ebadi, Kamak, Sukhatme, Gaurav S, Carlone, Luca, Morrell, Benjamin, Agha-mohammadi, Ali-akbar
Other Authors: Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2022
Online Access:https://hdl.handle.net/1721.1/145304

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https://hdl.handle.net/1721.1/145304

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