SMMR-Explore: SubMap-based Multi-Robot Exploration System with Multi-robot Multi-target Potential Field Exploration Method
Jincheng Yu Jianming Tong Yuanfan Xu Zhilin Xu Haolin Dong Tianxiang Yang Yu Wang Jincheng Yu Jianming Tong Yuanfan Xu Zhilin Xu Haolin Dong Tianxiang Yang Yu Wang
Collaborative exploration in an unknown environment without external positioning under limited communication is an essential task for multi-robot applications. For inter-robot positioning, various Distributed Simultaneous Localization and Mapping (DSLAM) systems share the Place Recognition (PR) descriptors and sensor data to estimate the relative pose between robots and merge robots’ maps. As maps...