DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams
John McConnell,Yewei Huang,Paul Szenher,Ivana Collado-Gonzalez,Brendan Englot,John McConnell,Yewei Huang,Paul Szenher,Ivana Collado-Gonzalez,Brendan Englot
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the team members. However, this has primarily been achieved with direct rendezvous between underwater robots, via inter-robot ranging. We propose a novel distribut...
