|Cooperative SLAM Framework with Efficient Information Sharing over Mobile Ad Hoc Networks|
Seminar by Gonšalo Martins (preparation for M.Sc. defense)
Synopsis: The main goal in this work is to develop a solution to perform SLAM with multiple cooperative mobile robots using a mobile ad hoc network (MANET). The focus has been designing a modular multi-robot SLAM solution that optimizes information sharing among robots in the course of the cooperative mapping mission, so that it can scale both in terms of communication bandwidth used and computational cost required in each robot. The solution developed in ROS can be instantiated either as a distributed computational system or as a centralized one, and is sufficiently modular to use any classical single robot SLAM technique, such as GMapping, GraphSLAM, HectorSLAM, etc.
Supervisor: Prof. Rui P. Rocha, Co-supervisor: Dr. David Portugal