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This paper presents Kimera-Multi, the first multi-robot system that (i) is robust and capable of identifying and rejecting incorrect inter and intra-robot loop closures resulting from perceptual aliasing, (ii) is fully distributed and only relies on local (peer-to-peer) communication to achieve distributed localization and mapping, and (iii) builds a globally consistent metric-semantic 3D mesh model of the environment in real-time, where faces of the mesh are annotated with semantic labels.
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Y. Chang, Y. Tian, J. How, and L. Carlone, “Kimera-Multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping,” in IEEE Intl. Conf. on Robotics and Automation (ICRA) , 2021
2021
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A. Agha, K. Otsu, B. Morrell, D. D. Fan, R. Thakker, A. Santamaria-Navarro, S.-K. Kim, A. Bouman, X. Lei, J. Edlund, M. F. Ginting, K. Ebadi, M. Anderson, T. Pailevanian, E. Terry, M. Wolf, A. Tagliabue, T. S. Vaquero, M. Palieri, S. Tepsuporn, Y. Chang, A. Kalantari, F. Chavez, B. Lopez, N. Funabiki, G. Miles, T. Touma, A. Buscicchio, J. Tordesillas, N. Alatur, J. Nash, W. Walsh, S. Jung, H. Lee, C. Kanellakis, J. Mayo, S. Harper, M. Kaufmann, A. Dixit, G. Correa, C. Lee, J. Gao, G. Merewether, J. Maldonado-Contreras, G. Salhotra, M. S. D. Silva, B. Ramtoula, Y. Kubo, S. Fakoorian, A. Hatteland, T. Kim, T. Bartlett, A. Stephens, L. Kim, C. Bergh, E. Heiden, T. Lew, A. Cauligi, T. Heywood, A. Kramer, H. A. Leopold, C. Choi, S. Daftry, O. Toupet, I. Wee, A. Thakur, M. Feras, G. Beltrame, G. Nikolakopoulos, D. Shim, L. Carlone, and J. Burdick, “Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge,” 2021
2021
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