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ICRA2021 - Autonomous Cooperative Visual Navigation for Planetary Exploration Robots.pdf (632.93 kB)

Autonomous cooperative visual navigation for planetary exploration robots

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conference contribution
posted on 2023-03-28, 14:09 authored by Masoud Sotoodeh-BahrainiMasoud Sotoodeh-Bahraini, Abdelhafid Zenati, Nabil Aouf

Planetary robotics navigation has attracted the great attention of many researchers in recent years. Localization is one of the most important problems for robots on another planet in the lack of GPS. The robots need to be able to know their location and the surrounding map in the environment concurrently, to work and communicate together on another planet. In the current work, a novel algorithm is designed to cooperatively localize a team of robots on another planet. Consequently, a robust algorithm is developed for cooperative Visual Odometry (VO) to localize each robot in a planetary environment while detecting both intra-loop closure and inter-loop closures using previously observed area by the robot and shared area from other robots, respectively. To validate the proposed algorithm, a comparison is provided between the proposed cooperative VO and the single version of VO. Accordingly, a planetary analogue real dataset is employed to investigate the accuracy of the proposed algorithm. The results promise the concept of cooperative VO to significantly increase the accuracy of localization. 

Funding

Planetary RObots Deployed for Assembly and Construction Tasks

European Commission

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History

School

  • Mechanical, Electrical and Manufacturing Engineering

Published in

2021 IEEE International Conference on Robotics and Automation (ICRA)

Source

2021 IEEE International Conference on Robotics and Automation (ICRA)

Publisher

IEEE

Version

  • AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher statement

© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Publication date

2021-10-18

Copyright date

2021

ISBN

9781728190778; 9781728190785

ISSN

1050-4729

eISSN

2577-087X

Language

  • en

Location

Xi'an, China

Event dates

30th May 2021 - 5th June 2021

Depositor

Dr Masoud Sotoodeh-Bahraini. Deposit date: 20 March 2023

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