Active Rendezvous for Multi-Robot Pose Graph Optimization using Sensing over Wi-Fi

by   Weiying Wang, et al.

We present a novel framework for collaboration amongst a team of robots performing Pose Graph Optimization (PGO) that addresses two important challenges for multi-robot SLAM: that of enabling information exchange "on-demand" via active rendezvous, and that of rejecting outlier measurements with high probability. Our key insight is to exploit relative position data present in the communication channel between agents, as an independent measurement in PGO. We show that our algorithmic and experimental framework for integrating Channel State Information (CSI) over the communication channels, with multi-agent PGO, addresses the two open challenges of enabling information exchange and rejecting outliers. Our presented framework is distributed and applicable in low-lighting or featureless environments where traditional sensors often fail. We present extensive experimental results on actual robots showing both the use of active rendezvous resulting in error reduction by 6X as compared to randomly occurring rendezvous and the use of CSI observations providing a reduction in ground truth pose estimation errors of 32 results demonstrate the promise of using a combination of multi-robot coordination and CSI to address challenges in multi-agent localization and mapping -- providing an important step towards integrating communication as a novel sensor for SLAM tasks.


page 1

page 14


Optimal Multi-robot Formations for Relative Pose Estimation Using Range Measurements

In multi-robot missions, relative position and attitude information betw...

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

To achieve collaborative tasks, robots in a team need to have a shared u...

WiROS: WiFi sensing toolbox for robotics

Many recent works have explored using WiFi-based sensing to improve SLAM...

3D Active Metric-Semantic SLAM

In this letter, we address the problem of exploration and metric-semanti...

Active collaboration in relative observation for Multi-agent visual SLAM based on Deep Q Network

This paper proposes a unique active relative localization mechanism for ...

Data-Efficient Decentralized Visual SLAM

Decentralized visual simultaneous localization and mapping (SLAM) is a p...

Robust Collaborative 3D Object Detection in Presence of Pose Errors

Collaborative 3D object detection exploits information exchange among mu...

Please sign up or login with your details

Forgot password? Click here to reset