{"title":"基于八叉树的地图在多机器人系统中的高效集成","authors":"M. Drwiega","doi":"10.1109/MMAR.2018.8485993","DOIUrl":null,"url":null,"abstract":"The paper presents an approach for integration of three-dimensional world models (octree based maps) in multi-robot systems. The process of maps integration is based on ICP (Iterative Closest Point) algorithm that has been adapted and optimized to operate on octomaps. The presented method has been verified in numerous experiments both in simulation and with publicly available datasets captured from robots. The solution can be applied to various robotic applications such as underwater robots, aerial robots or robots equipped with manipulators - wherever 3D maps are needed and a task is performed by group of mobile robots.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Efficient Integration of Octree Based Maps in Multi-Robot System\",\"authors\":\"M. Drwiega\",\"doi\":\"10.1109/MMAR.2018.8485993\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper presents an approach for integration of three-dimensional world models (octree based maps) in multi-robot systems. The process of maps integration is based on ICP (Iterative Closest Point) algorithm that has been adapted and optimized to operate on octomaps. The presented method has been verified in numerous experiments both in simulation and with publicly available datasets captured from robots. The solution can be applied to various robotic applications such as underwater robots, aerial robots or robots equipped with manipulators - wherever 3D maps are needed and a task is performed by group of mobile robots.\",\"PeriodicalId\":201658,\"journal\":{\"name\":\"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MMAR.2018.8485993\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2018.8485993","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Efficient Integration of Octree Based Maps in Multi-Robot System
The paper presents an approach for integration of three-dimensional world models (octree based maps) in multi-robot systems. The process of maps integration is based on ICP (Iterative Closest Point) algorithm that has been adapted and optimized to operate on octomaps. The presented method has been verified in numerous experiments both in simulation and with publicly available datasets captured from robots. The solution can be applied to various robotic applications such as underwater robots, aerial robots or robots equipped with manipulators - wherever 3D maps are needed and a task is performed by group of mobile robots.
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