Supervision of multi-robot systems by adaptive projection onto common map
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12270Keywords:
Perception and sensing, Localization, Map building, Multi-agent systems, Mobile robots, TeleoperationAbstract
This manuscript presents a system for the adaptive representation of the pose of multiple robotic platforms operating in the same environment. The system is based on the CAD2SLAM methodology and projects the individual positions of each robot onto a common base map employing a non-rigid projection grid adjusted using a set of correspondence points and least-squares optimization. This enables a coherent and easy to understand representation of each robot’s relative position, regardless of the type of sensors or SLAM system. The human operator can supervise the global state of the multi-robot system in a more intuitive and efficient manner, without altering the internal architecture and the normal operation of the robots. Validated in both simulated and real-world scenarios, it demonstrates robustness and real-time execution. The main novelty of this system lies in the use of a base map as a common reference system for all robots, facilitating cooperation between heterogeneous platforms and improving the visual interpretation of the environment.
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Copyright (c) 2025 Martín Bayón Gutiérrez, Natalia Prieto Fernández, María Teresa García Ordás, Carmen Benavides, José Alberto Benítez Andrades
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
