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Adaptive-Resolution Cooperative Field Mapping With Event-Triggered Distributed Map Fusion | IEEE Journals & Magazine | IEEE Xplore

Adaptive-Resolution Cooperative Field Mapping With Event-Triggered Distributed Map Fusion


Abstract:

Cooperative scalar field mapping is an important task for multi-robot systems. However, the limited communication and computation resources of robots have hindered the ap...Show More

Abstract:

Cooperative scalar field mapping is an important task for multi-robot systems. However, the limited communication and computation resources of robots have hindered the application of cooperative field mapping in large-scale scenarios. This letter proposes an adaptive-resolution Gaussian process mapping with event-triggered distributed map fusion to overcome these resource limitations. A novel event-triggered communication mechanism is proposed for distributed map fusion under range-limited communication. A resolution adaptation method is developed to balance the mapping computation, communication resources, and accuracy. A closed-form approximated information metric is derived for faster map resolution optimization. Finally, the performances of the proposed algorithms are validated by real online light field mapping experiments.
Published in: IEEE Robotics and Automation Letters ( Volume: 10, Issue: 2, February 2025)
Page(s): 1058 - 1065
Date of Publication: 16 December 2024

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