Distributed Multi-Robot Cooperative Localization and Navigation

A multi-agent scenario is considered, in which the different robots share information to improve navigation and extend sensing. A graph-based approach was developed to guarantee a consistent information fusion between the different robots assuming a general multi-robot measurement model. Using the graph structure, separately maintained by each robot, appropriate correlation terms are calculated upon-demand and used within the update step of the filter. The method (see IJRR2012) is also applicable to implicit measurement models and in particular when using three-view geometry constraints (more details). Such an approach was developed in RAS2012, where the three-view constraints are applied whenever the robots observe a common scene. One thing to note is that the scene does not necessarily have to be observed by the robots at the same time.

A consistent decentralized data fusion (DDF) is studied within the smoothing and mapping framework as well (see ICRA2013). Here, the robots share certain variables of choice, such as observed 3D points, to both extend sensing horizon and improve localization and mapping. Consistent information fusion is guaranteed by explicitly avoiding using the same observation more than once (i.e. double counting), via information down-dating that is expressed in graphical models by anti-factors. Information summarization techniques are developed to efficiently retrieve the probabilistic information to-be-shared from the local factorized joint probability distribution, represented by the Bayes net.

Related Publications:

Articles

  • V. Indelman, E. Nelson, J. Dong, N. Michael, and F. Dellaert. Incremental Distributed Inference from Arbitrary Poses and Unknown Data Association: Using Collaborating Robots to Establish a Common Reference. IEEE Control Systems Magazine (CSM), Special Issue on Distributed Control and Estimation for Robotic Vehicle Networks, 36(2):41-74, 2016.
    [BibTeX] [URL] [PDF]
    @Article{Indelman16csm,
    author = {V. Indelman and E. Nelson and J. Dong and N. Michael, and F. Dellaert},
    title = {Incremental Distributed Inference from Arbitrary Poses and Unknown Data Association: Using Collaborating Robots to Establish a Common Reference},
    journal = "IEEE Control Systems Magazine (CSM), Special Issue on Distributed Control and Estimation for Robotic Vehicle Networks",
    year = 2016,
    volume = {36},
    number = {2},
    pages = {41-74},
    url = "http://ieeexplore.ieee.org/xpl/abstractAuthors.jsp?reload=true&arnumber=7434165",
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman16csm.pdf",
    researchtopic = {DistributedRobust, DistributedMultiRobotNav},
    }

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Graph-Based Distributed Cooperative Navigation for a General Multi-Robot Measurement Model. International Journal of Robotics Research, 31(9), August 2012.
    [BibTeX] [URL] [PDF]
    @Article{Indelman12ijrr,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Graph-Based Distributed Cooperative Navigation for a General Multi-Robot Measurement Model},
    journal = "International Journal of Robotics Research",
    month = "August",
    volume = 31,
    number = 9,
    year = 2012,
    url = "http://ijr.sagepub.com/content/31/9/1057",
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman12ijrr.pdf",
    researchtopic = {DistributedMultiRobotNav},
    }

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Distributed Vision-Aided Cooperative Localization and Navigation Based on Three-View Geometry. Robotics and Autonomous Systems, 60(6):822-840, June 2012.
    [BibTeX] [URL] [PDF]
    @Article{Indelman12ras,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Distributed Vision-Aided Cooperative Localization and Navigation Based on Three-View Geometry},
    journal = "Robotics and Autonomous Systems",
    year = 2012,
    volume = 60,
    number = 6,
    month = "June",
    pages = {822-840},
    url = "http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5747546&tag=1",
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman12ras.pdf",
    researchtopic = {DistributedMultiRobotNav},
    }

In Proceedings

  • V. Indelman. Distributed Perception and Estimation: a Short Survey. In Principles of Multi-Robot Systems, workshop in conjunction with Robotics Science and Systems (RSS) Conference, July 2015.
    [BibTeX] [PDF] [Slides]
    @InProceedings{Indelman15rss_ws_c,
    author = {V. Indelman},
    title = {Distributed Perception and Estimation: a Short Survey},
    booktitle = {Principles of Multi-Robot Systems, workshop in conjunction with Robotics Science and Systems (RSS) Conference},
    year = 2015,
    month = "July",
    location = {Italy},
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman15rss_ws_c.pdf",
    slides = "http://vindelman.technion.ac.il/Publications/Indelman15rss_ws_c_ppt.pdf",
    researchtopic = {DistributedMultiRobotNav},
    }

  • V. Indelman, E. Nelson, N. Michael, and F. Dellaert. Distributed Navigation with Unknown Initial Poses and Data Association via Expectation Maximization. In 56th Israel Annual Conference on Aerospace Sciences, March 2015.
    [BibTeX] [PDF] [Slides]
    @InProceedings{Indelman15iacas_c,
    author = {V. Indelman and E. Nelson and N. Michael and F. Dellaert},
    title = {Distributed Navigation with Unknown Initial Poses and Data Association via Expectation Maximization},
    booktitle = {56th Israel Annual Conference on Aerospace Sciences},
    year = 2015,
    month = "March",
    location = {Israel},
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman15iacas_c.pdf",
    slides = "http://vindelman.technion.ac.il/Publications/Indelman15iacas_c_ppt.pdf",
    researchtopic = {DistributedRobust, DistributedMultiRobotNav},
    }

  • A. Cunningham, V. Indelman, and F. Dellaert. DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping. In IEEE International Conference on Robotics and Automation (ICRA), May 2013.
    [BibTeX] [PDF] [Slides]
    @InProceedings{Cunningham13icra,
    author = {A. Cunningham and V. Indelman and F. Dellaert},
    title = {DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping},
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = 2013,
    month = "May",
    location = {Karlsruhe, Germany},
    pdf = "http://vindelman.technion.ac.il/Publications/Cunningham13icra.pdf",
    slides = "http://prezi.com/stkmabcwk4nw/icra2013-ddf-sam-20-interactive-presentation/",
    researchtopic = {DistributedMultiRobotNav},
    }

  • A. Cunningham, K. Ok, J. Antico, V. Indelman, and F. Dellaert. Aerial Robot Experimental Design for Decentralized Visual SLAM. In Unmanned Systems Technology XV – SPIE Defense, Security and Sensing, April 2013.
    [BibTeX]
    @InProceedings{Cunningham13spie,
    author = {A. Cunningham and K. Ok and J. Antico and V. Indelman and F. Dellaert},
    title = {Aerial Robot Experimental Design for Decentralized Visual SLAM},
    booktitle = "Unmanned Systems Technology XV - SPIE Defense, Security and Sensing",
    year = 2013,
    month = "April",
    location = {Maryland, USA},
    researchtopic = {DistributedMultiRobotNav},
    }

  • A. Cunningham, V. Indelman, and F. Dellaert. Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating. In 10th IEEE International Symposium on Safety Security and Rescue Robotics (SSRR), November 2012.
    [BibTeX] [PDF]
    @InProceedings{Cunningham12ssrr,
    author = {A. Cunningham and V. Indelman and F. Dellaert},
    title = {Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating},
    booktitle = "10th IEEE International Symposium on Safety Security and Rescue Robotics (SSRR)",
    year = 2012,
    month = "November",
    location = {Texas, USA},
    pdf = "http://vindelman.technion.ac.il/Publications/Cunningham12ssrr.pdf",
    researchtopic = {DistributedMultiRobotNav},
    }

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Graph-Based Cooperative Navigation Using Three-View Constraints: Method Validation. In IEEE/ION Position Location and Navigation System (PLANS) Conference, April 2012.
    [BibTeX] [PDF]
    @InProceedings{Indelman12plans_b,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Graph-Based Cooperative Navigation Using Three-View Constraints: Method Validation},
    booktitle = "IEEE/ION Position Location and Navigation System (PLANS) Conference",
    year = 2012,
    month = "April",
    location = {South Carolina, USA},
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman12plans_b.pdf",
    researchtopic = {DistributedMultiRobotNav},
    }

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Graph-based Distributed Cooperative Navigation. In IEEE International Conference on Robotics and Automation (ICRA), May 2011.
    [BibTeX] [PDF] [Slides]
    @InProceedings{Indelman11icra,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Graph-based Distributed Cooperative Navigation},
    booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
    year = 2011,
    month = "May",
    location = {Shanghai, China},
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman11icra.pdf",
    slides = "http://vindelman.technion.ac.il/Publications/Indelman11icra_ppt.pdf",
    researchtopic = {DistributedMultiRobotNav},
    }

  • V. Indelman, P. Gurfil, E. Rivlin, and H. Rotstein. Distributed Vision-Aided Cooperative Localization and Navigation based on Three-View Geometry. In IEEE Aerospace Conference, March 2011.
    [BibTeX] [PDF] [Slides]
    @InProceedings{Indelman11aerospace,
    author = {V. Indelman and P. Gurfil and E. Rivlin and H. Rotstein},
    title = {Distributed Vision-Aided Cooperative Localization and Navigation based on Three-View Geometry},
    booktitle = "IEEE Aerospace Conference",
    year = 2011,
    month = "March",
    location = {Montana, USA},
    pdf = "http://vindelman.technion.ac.il/Publications/Indelman11aerospace.pdf",
    slides = "http://vindelman.technion.ac.il/Publications/Indelman11aerospace_ppt.pdf",
    researchtopic = {DistributedMultiRobotNav, ThreeViewNav},
    }

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