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Towards Collaborative Mapping and Exploration Using Multiple Micro Aerial Robots

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Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 109))

Abstract

In this paper, we present a system for collaborative mapping and exploration with multiple quad rotor robots. The basic architecture and development of the algorithms for mapping and exploration validate our system with both simulation and real-world experiments. We utilize the 2.5-D structure of typical indoor environments and demonstrate the deployment of multiple autonomous quadrotors equipped with IMUs and laser scanners engaged in collaborative exploration. Estimation, control and planing algorithms are highly integrated in our system to achieve robust and efficient exploration behaviors.

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Acknowledgments

We gratefully acknowledge support from ARL Micro Autonomous Systems and Technology Collaborative Technology Alliance Grant no. W911NF-08-2-0004.

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Authors and Affiliations

  1. GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, 19104, USA

    Sikang Liu, Kartik Mohta, Shaojie Shen & Vijay Kumar

Authors
  1. Sikang Liu
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  2. Kartik Mohta
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  3. Shaojie Shen
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  4. Vijay Kumar
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Corresponding author

Correspondence to Sikang Liu .

Editor information

Editors and Affiliations

  1. Drexel University, Philadelphia, Pennsylvania, USA

    M. Ani Hsieh

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

  3. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA

    Vijay Kumar

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Liu, S., Mohta, K., Shen, S., Kumar, V. (2016). Towards Collaborative Mapping and Exploration Using Multiple Micro Aerial Robots. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_57

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  • DOI: https://doi.org/10.1007/978-3-319-23778-7_57

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23777-0

  • Online ISBN: 978-3-319-23778-7

  • eBook Packages: EngineeringEngineering (R0)

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