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Autonomous Multi Robot Collaborative Exploration (Mapping)

Course: 236754 (Project in intelligent systems) (3 points)
Instructor: Amit Moran (Intel), Assist. Prof. Vadim Indelman
Number of students: 2
prerequisites: Programing skills – C++, Python, ROS

 

 

Overview

  • Scanning process – 3D scanning is the process of capturing digital information about the shape of an object with equipment that uses a laser or light to measure the distance between the scanner and the object.
  • Robotic Mapping - The goal for an autonomous robot is to be able to construct (or use) a map or floor plan and to localize itself in it. Robotic mapping is a branch that deals with the study and application of ability to construct such a map by an autonomous robot and to localize itself in it.

Project Definition

We would like to perform a robust and autonomous mapping of a room or a set of rooms (e.g. an apartment). We are looking to do this scan as complete and fast as possible, without falling on the quality. We propose a project to create an autonomous scan using multiple (ground and/or aerial) robots, in order to achieve that goal.

Autonomous Multi Robot Collaborative Exploration (Mapping)

Outputs

  • Proof of concept (POC) a single robot autonomously mapping an indoor area in a minimal time.
  • POC multi-robot scenario of mapping an indoor area and showing improvement in scan time
  • Academic paper in a leading international conference (e.g. ICRA)

Logistics

  • The project will be initially for 1 semester, with a potential extension to a 2nd semester due its large scope and great potential
  • The project is offered both to undergraduate and graduate students with appropriate background

Prerequisites

  • Programing skills – C++, Python, ROS
  • Path planning and Control theory – Advantage
  • Computer vision knowledge  - Advantage

Related work
http://www2.informatik.uni-freiburg.de/~stachnis/pdf/burgard05tro.pdf
http://www.cs.cmu.edu/~humanrobotteams/multimedia/presentations/Auto_Exploration_Coverage.pdf
https://www.ri.cmu.edu/pub_files/pub1/fox_dieter_1999_5/fox_dieter_1999_5.pdf
http://vindelman.technion.ac.il/Publications/Indelman14icra_b.pdf

Contact details: Amit Moran (Intel): This email address is being protected from spambots. You need JavaScript enabled to view it.

                         Assist. Prof. Vadim Indelman (ANPL@Technion): This email address is being protected from spambots. You need JavaScript enabled to view it.