Cooperative Multi-Robot Navigation and Mapping of Unknown Terrain

5th IEEE Conference on Robotics, Automation and Mechatronics (RAM 2011)


Authors: Adrian Boeing, Thomas Bräunl, Robert Reid, Aidan Morgan, Kevin Vinsen

Abstract: We describe the hardware, software and sensor equipment for a fleet of mobile robots used for cooperative multi-robot navigation and mapping. This robot team was developed for the MAGIC 2010 Robotics Challenge and successfully made it through two down-selection processes to the finals, where it placed 4th. Our mobile robot design leverages off-the-shelf hardware and open source software with novel software contributions to realize cooperative navigation, mapping, reconnaissance, and surveillance tasks for a large urban environment.

 RAM2011 Cooperative Multi-Robot Navigation and Mapping (1.1MB PDF) 

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