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Versatile and Robust Multi-Robot SLAM
Recent work on multi-robot systems with collaborative autonomy has made significant strides towards developing robotic
teams capable of performing complex tasks in real, complex settings as shown above. Right at the core of such capabilities is
the capability to collaboratively perform SLAM (Simultaneous Localization And Mapping) within such multi-agent systems that
can operate efficiently and in challenging real-world environments, which is the main goal of this project.
The aim of this project is to develop key components of a multi-robot SLAM system that is robust in challenging environments
and adaptable to different scenarios, ranging from environmental monitoring to search-and-rescue operations. The envisioned
system will research integrating complementary onboard sensor modalities (e.g., cameras, LiDAR, and IMU), machine learning
methods, and distributed communication systems to provide precise localization and mapping exhibiting resilience to sensor
failure and sufficient efficiency to be deployed onboard small platforms, such as drones. The student will be guided to work
towards a system architecture that can enable effective testing and optimization in state-of-the-art simulation engines, with the
ultimate goal of reducing the gap between simulated experiments and real tests. The outlook is to create a system that can be
employed onboard a small swarm of drones in a real setting.
Not specified
The work packages of this project involves, literature review of existing research on multi-robot SLAM, develop new SLAM
algorithms for identified challenges, and validate algorithms in simulation and with real-world experiments
The work packages of this project involves, literature review of existing research on multi-robot SLAM, develop new SLAM algorithms for identified challenges, and validate algorithms in simulation and with real-world experiments
The students taking this project need to have programming experience with Python and C++, ROS and/or ROS 2
The students taking this project need to have programming experience with Python and C++, ROS and/or ROS 2
Please send an email to liu.xiangyu@ucy.ac.cy and lteixeira@mavt.ethz.ch
Please send an email to liu.xiangyu@ucy.ac.cy and lteixeira@mavt.ethz.ch