Tightly Coupled 3D Lidar Inertial SLAM for Ground Robot

Fast planar surface 3D SLAM using LIDAR

In this paper we propose a fast 3D pose based SLAM system that estimates a vehicle’s trajectory by registering sets of planar surface segments, extracted from 360◦ field of view (FOV) point clouds provided by a 3D LIDAR. Full FOV and planar representation of the map gives the proposed SLAM system the capability to map large-scale environments while maintaining fast execution time. For efficient...

Improving Aiding techniques for USBL Tightly-Coupled Inertial Navigation System

This paper presents two Tightly-Coupled fusion techniques to enhance position, velocity and attitude estimation based on position fixes of an Ultra-Short Base Line (USBL) positioning system with low update rates and the high rate Inertial Navigation System (INS) outputs, subject to bias and unbounded drift. In this framework, the vehicle interrogates transponders placed at known positions of th...

An Architecture for Tightly Coupled Multi-Robot Cooperation

This paper proposes a new architecture for tightly coupled multi robot coordination that is well suited to cooperative manipulation tasks At all times a robot is identi ed as a leader while the others are desig nated as followers The assignment of roles and the coordination between the robots is guaranteed by com munication protocols and control algorithms The key feature is the exibility that ...

Tightly - coupled coordination of multi - robot systems for Mars exploration

AbstructSite construction operations by autonomous robotic systems are essential for a sustained robotic presence and human habitation on Mars. We report on the development of a softwarehardware framework for Cooperating multiple robots performing such tightly coordinated tasks. This work builds on our earlier research into autonomous planetary rovers and robot a m . Here, we seek to closely co...

The case for visual-inertial SLAM over visual SLAM