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