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Distributed semantic mapping for heterogeneous robotic teams

Fanger, Yunis and Bodenmüller, Tim and Triebel, Rudolph (2021) Distributed semantic mapping for heterogeneous robotic teams. In: Proceedings DGR Days 2021, p. 33. KIT Science Week Scientific Conference and DGR-Days 2021, 6-8 Oct 2021, Karlsruhe, Germany.

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Official URL: https://h2t-projects.webarchiv.kit.edu/dgr2021/wp-content/uploads/2021/10/DGR-2021-Proceedings.pdf


In this paper we summarize our current work on distributed semantic mapping within heterogeneous robot teams in large scale unstructured environments. We extract semantic information from sensor readings and use it to perform robust registration of sub-maps from different agents. We further use it to reduce network traffic by excluding detected areas of high uncertainty. For fast development and verification of our approaches, we employ a multi-robot real-time simulation.

Item URL in elib:https://elib.dlr.de/146660/
Document Type:Conference or Workshop Item (Speech)
Title:Distributed semantic mapping for heterogeneous robotic teams
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Fanger, Yunisyunis.fanger (at) dlr.deUNSPECIFIED
Bodenmüller, TimTim.Bodenmueller (at) dlr.dehttps://orcid.org/0000-0003-0899-361X
Triebel, Rudolphrudolph.triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:October 2021
Journal or Publication Title:Proceedings DGR Days 2021
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:p. 33
EditorsEmailEditor's ORCID iD
Asfour, TamimInstitute for Anthropomatics and RoboticsUNSPECIFIED
Brock, OliverTU Berlin, Robotics and Biology LaboratoryUNSPECIFIED
Burgard, WolframUniversität FreiburgUNSPECIFIED
Keywords:semantic mapping multi-robot
Event Title:KIT Science Week Scientific Conference and DGR-Days 2021
Event Location:Karlsruhe, Germany
Event Type:national Conference
Event Dates:6-8 Oct 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Multisensory World Modelling (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Fanger, Yunis
Deposited On:06 Dec 2021 11:03
Last Modified:06 Dec 2021 11:03

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