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Decentralized Online Simultaneous Localization and Mapping for Multi-Agent Systems

机译：多代理系统分散在线同时定位和映射

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Planning tasks performed by a robotic agent require previous access to a map of the environment and the position where the agent is located. This creates a problem when the agent is placed in a new environment. To solve it, the RA must execute the task known as Simultaneous Location and Mapping (SLAM) which locates the agent in the new environment while generating the map at the same time, geometrically or topologically. One of the big problems in SLAM is the amount of memory required for the RA to store the details of the environment map. In addition, environment data capture needs a robust processing unit to handle data representation, which in turn is reflected in a bigger RA unit with higher energy use and production costs. This article presents a design for a system capable of a decentralized implementation of SLAM that is based on the use of a system comprised of wireless agents capable of storing and distributing the map as it is being generated by the RA. The proposed system was validated in an environment with a surface area of 25 m(2), in which it was capable of generating the topological map online, and without relying on external units connected to the system.
机译：由机器人代理执行的规划任务需要先前访问环境的地图和代理所在的位置。当代理放在新环境中时，这会产生问题。为了解决它，RA必须执行称为同时位置和映射（SLAM）的任务，该任务位于新环境中的代理，同时在几何或拓扑上生成地图。 SLAM中的一个重要问题是RA存储环境图的详细信息所需的内存量。另外，环境数据捕获需要一种稳健的处理单元来处理数据表示，这反过来反映在具有更高能耗和生产成本的更大的RA单元中。本文介绍了一种能够分散实施的系统的设计，该系统基于由能够存储和分发地图的无线代理的使用，该系统的系统提供了基于能够存储和分配地图的系统。所提出的系统在具有25米（2）的表面积的环境中验证，其中能够在线生成拓扑图，而无需依赖连接到系统的外部单元。

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