This article describes WAMbot, a multi-robot system designed to navigate, explore and map large-scale urban environments while performing visual object recognition. The system can be easily adapted and deployed into a variety of scenarios such as search and rescue or surveillance. The original WAMbot system was developed for the Multi Autonomous Ground-robotic International Challenge in 2010 (MAGIC 2010). It successfully passed a competitive down-selection process and placed 4th in the final challenge. Our ongoing work has been to modularize the WAMbot system further, and standardize it using the open source Robot Operating System (ROS) software framework. We describe the core components, or stacks, in the new WAMbot system including: 1) a large-scale mapping stack capable of building 500×500m global maps from over 20 robots in real-time, 2) an efficient, frontier-based multi-robot exploration stack, 3) a navigation stack including a centralized global planner with decentralized local navigation and 4) an intuitive graph-based visual object recognition pipeline.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative multi-robot navigation, exploration, mapping and object detection with ROS


    Contributors:


    Publication date :

    2013-06-01


    Size :

    1333414 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    COOPERATIVE MULTI-ROBOT NAVIGATION, EXPLORATION, MAPPING AND OBJECT DETECTION WITH ROS

    Reid, R. / Cann, A. / Meiklejoh, C. et al. | British Library Conference Proceedings | 2013




    Object Detection Techniques Applied on Mobile Robot Semantic Navigation

    Astua Elizondo, Carlos José / Barber Castaño, Ramón Ignacio / Crespo Herrero, Jonathan et al. | BASE | 2014

    Free access

    Benefits of Cooperative Communication Applied to Robot Exploration

    McLelland, Michael K. / Emamian, Vahid | IEEE | 2007