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, 2021-10-06 - 2021-10-08, Karlsruhe, Germany.
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Official URL: https://h2t-projects.webarchiv.kit.edu/dgr2021/wp-content/uploads/2021/10/DGR-2021-Proceedings.pdf
Abstract
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/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
Title: | Distributed semantic mapping for heterogeneous robotic teams | ||||||||||||||||
Authors: |
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Date: | October 2021 | ||||||||||||||||
Journal or Publication Title: | Proceedings DGR Days 2021 | ||||||||||||||||
Refereed publication: | No | ||||||||||||||||
Open Access: | Yes | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | No | ||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||
Page Range: | p. 33 | ||||||||||||||||
Editors: |
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Status: | Published | ||||||||||||||||
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 Start Date: | 6 October 2021 | ||||||||||||||||
Event End Date: | 8 October 2021 | ||||||||||||||||
Organizer: | KIT | ||||||||||||||||
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: | 24 Apr 2024 20:45 |
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