The article discusses the development of CoVOR-SLAM, a system for accurate positioning in multi-robot systems. Traditional methods require significant computational and communication capabilities to detect inter-agent loops and process transmitted data. CoVOR-SLAM overcomes these challenges by only requiring robots to exchange pose estimates, covariances of the estimates, and range measurements. This reduces the computational and communication loads. The system has been tested using real images and ultra-wideband-based ranges, with successful results. The findings suggest that CoVOR-SLAM can accurately estimate robot poses, requiring much less computational power and communication capabilities than the inter-agent loop closing technique.
Publication date: 22 Nov 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2311.12580
