DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams.
John McConnellYewei HuangPaul SzenherIvana Collado-GonzalezBrendan J. EnglotPublished in: IROS (2022)
Keyphrases
- mobile robot
- robot teams
- simultaneous localization and mapping
- multi robot
- communication overhead
- computationally efficient
- underwater acoustic
- communication cost
- sonar images
- indoor environments
- monocular slam
- computer networks
- distributed environment
- high resolution
- visual slam
- lightweight
- distributed systems
- sensor networks
- real time
- acoustic signal
- synthetic aperture sonar
- loop closing
- communication systems
- autonomous underwater vehicle
- distributed control
- mobile robotics
- path planning
- image processing
- computer vision
- obstacle avoidance
- robot navigation
- data association
- underwater vehicles
- kalman filter
- dynamic environments
- particle filter
- control system
- cooperative