InforLorV4, Main, Exploration, bibRecord, 000F50

Cart-O-matic project : autonomous and collaborative multi-robot localization, exploration and mapping

Identifieur interne : 000F50 ( Main/Exploration ); précédent : 000F49; suivant : 000F51

Cart-O-matic project : autonomous and collaborative multi-robot localization, exploration and mapping

Auteurs : Antoine Bautin [France] ; Philippe Lucidarme ; Rémy Guyonneau [France] ; Olivier Simonin [France] ; Sebastien Lagrange [France] ; Nicolas Delanoue [France] ; François Charpillet [France]

Source :

RBID : Hal:hal-00939161

Abstract

The aim of the Cart-O-matic project was to design and build a multi-robot system able to autonomously map an unknown building. This work has been done in the framework of a French robotics contest called Defi CAROTTE organized by the General Delegation for Armaments (DGA) and the French National Research Agency (ANR). The scientific issues of this project deal with Simultaneous Localization And Mapping (SLAM), multi-robot collaboration and object recognition. In this paper, we will mainly focussed on the two first topics : after a general introduction, we will briefly describe the innovative simultaneous localization and mapping algorithm used during the competition. We will next explain how this algorithm can deal with multi-robots systems and 3D mapping. The next part of the paper will be dedicated to the multi-robot pathplanning and exploration strategy. The last section will illustrate the results with 2D and 3D maps, collaborative exploration strategies and example of planned trajectories.

Url:

https://hal.archives-ouvertes.fr/hal-00939161

Affiliations:

Links toward previous steps (curation, corpus...)

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Le document en format XML

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<front><div type="abstract" xml:lang="en">The aim of the Cart-O-matic project was to design and build a multi-robot system able to autonomously map an unknown building. This work has been done in the framework of a French robotics contest called Defi CAROTTE organized by the General Delegation for Armaments (DGA) and the French National Research Agency (ANR). The scientific issues of this project deal with Simultaneous Localization And Mapping (SLAM), multi-robot collaboration and object recognition. In this paper, we will mainly focussed on the two first topics : after a general introduction, we will briefly describe the innovative simultaneous localization and mapping algorithm used during the competition. We will next explain how this algorithm can deal with multi-robots systems and 3D mapping. The next part of the paper will be dedicated to the multi-robot pathplanning and exploration strategy. The last section will illustrate the results with 2D and 3D maps, collaborative exploration strategies and example of planned trajectories.</div>
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<name sortKey="Lagrange, Sebastien" sort="Lagrange, Sebastien" uniqKey="Lagrange S" first="Sebastien" last="Lagrange">Sebastien Lagrange</name>
<name sortKey="Simonin, Olivier" sort="Simonin, Olivier" uniqKey="Simonin O" first="Olivier" last="Simonin">Olivier Simonin</name>
</country>
</tree>
</affiliations>
</record>

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   |texte=   Cart-O-matic project : autonomous and collaborative multi-robot localization, exploration and mapping
}}

This area was generated with Dilib version V0.6.33.
Data generation: Mon Jun 10 21:56:28 2019. Site generation: Fri Feb 25 15:29:27 2022

	Serveur d'exploration sur la recherche en informatique en Lorraine
	Attention, ce site est en cours de développement ! Attention, site généré par des moyens informatiques à partir de corpus bruts. Les informations ne sont donc pas validées.

Serveur d'exploration sur la recherche en informatique en Lorraine

Cart-O-matic project : autonomous and collaborative multi-robot localization, exploration and mapping

Cart-O-matic project : autonomous and collaborative multi-robot localization, exploration and mapping

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Abstract

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