Multi-robot SLAM: An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM

Mahmoud A. Abdulgalil; Mahmoud M. Nasr; Mohamed H. Elalfy; Alaa Khamis; Fakhri Karray

doi:10.1007/978-3-319-78452-6_15

Multi-robot SLAM: An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM

Mahmoud A. Abdulgalil
, Mahmoud M. Nasr
, Mohamed H. Elalfy
, Alaa Khamis^*
, Fakhri Karray

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

In recent years, multi-robot systems (MRS) have received attention from researchers in academia, government laboratories and industry. This research activity has borne fruit in tackling some of the challenging problems that are still open. One is multi-robot simultaneous localization and mapping (MR-SLAM). This paper provides an overview of the latest trends in tackling the problem of (MR-SLAM) focusing on Robot Operating System (ROS) enabled package designed to solve this problem through enabling the robots to share their maps and merge them over a WiFi network. This package had some out-of-date dependencies and worked with some packages that no longer exist. The package has been modified to handle these dependencies. The C-SLAM package was then tested with 2 robots using Gmapping and Hector SLAM packages. Quantitative metrics were used to evaluate the accuracy of the generated maps by comparing it to the ground truth map, including Map Score and Occupied/Free cells ratio.

Original language	English
Title of host publication	Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications
Editors	Hyun Myung, Weiliang Xu, Jin-Woo Jung, Han-Lim Choi, Jong-Hwan Kim, Junmo Kim, Eric T Matson
Publisher	Springer Verlag
Pages	165-183
Number of pages	19
ISBN (Print)	9783319784519
DOIs	https://doi.org/10.1007/978-3-319-78452-6_15
State	Published - 2019
Externally published	Yes
Event	5th International Conference on Robot Intelligence Technology and Applications, RiTA 2017 - Daejeon, Korea, Republic of Duration: 13 Dec 2017 → 15 Dec 2017

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	751
ISSN (Print)	2194-5357

Conference

Conference	5th International Conference on Robot Intelligence Technology and Applications, RiTA 2017
Country/Territory	Korea, Republic of
City	Daejeon
Period	13/12/17 → 15/12/17

Bibliographical note

Publisher Copyright:
© Springer International Publishing AG, part of Springer Nature 2019.

Keywords

C-SLAM
Data association
Map merging
Multi-robot SLAM
Occupancy grid map
ROS
SLAM

ASJC Scopus subject areas

Control and Systems Engineering
General Computer Science

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-319-78452-6_15

Cite this

Abdulgalil, M. A., Nasr, M. M., Elalfy, M. H., Khamis, A., & Karray, F. (2019). Multi-robot SLAM: An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM. In H. Myung, W. Xu, J.-W. Jung, H.-L. Choi, J.-H. Kim, J. Kim, & E. T. Matson (Eds.), Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications (pp. 165-183). (Advances in Intelligent Systems and Computing; Vol. 751). Springer Verlag. https://doi.org/10.1007/978-3-319-78452-6_15

Abdulgalil, Mahmoud A. ; Nasr, Mahmoud M. ; Elalfy, Mohamed H. et al. / Multi-robot SLAM : An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM. Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications. editor / Hyun Myung ; Weiliang Xu ; Jin-Woo Jung ; Han-Lim Choi ; Jong-Hwan Kim ; Junmo Kim ; Eric T Matson. Springer Verlag, 2019. pp. 165-183 (Advances in Intelligent Systems and Computing).

@inproceedings{60a465ad7e1844b98fb442a577b81e62,

title = "Multi-robot SLAM: An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM",

abstract = "In recent years, multi-robot systems (MRS) have received attention from researchers in academia, government laboratories and industry. This research activity has borne fruit in tackling some of the challenging problems that are still open. One is multi-robot simultaneous localization and mapping (MR-SLAM). This paper provides an overview of the latest trends in tackling the problem of (MR-SLAM) focusing on Robot Operating System (ROS) enabled package designed to solve this problem through enabling the robots to share their maps and merge them over a WiFi network. This package had some out-of-date dependencies and worked with some packages that no longer exist. The package has been modified to handle these dependencies. The C-SLAM package was then tested with 2 robots using Gmapping and Hector SLAM packages. Quantitative metrics were used to evaluate the accuracy of the generated maps by comparing it to the ground truth map, including Map Score and Occupied/Free cells ratio.",

keywords = "C-SLAM, Data association, Map merging, Multi-robot SLAM, Occupancy grid map, ROS, SLAM",

author = "Abdulgalil, \{Mahmoud A.\} and Nasr, \{Mahmoud M.\} and Elalfy, \{Mohamed H.\} and Alaa Khamis and Fakhri Karray",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG, part of Springer Nature 2019.; 5th International Conference on Robot Intelligence Technology and Applications, RiTA 2017 ; Conference date: 13-12-2017 Through 15-12-2017",

year = "2019",

doi = "10.1007/978-3-319-78452-6\_15",

language = "English",

isbn = "9783319784519",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer Verlag",

pages = "165--183",

editor = "Hyun Myung and Weiliang Xu and Jin-Woo Jung and Han-Lim Choi and Jong-Hwan Kim and Junmo Kim and Matson, \{Eric T\}",

booktitle = "Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications",

address = "Germany",

}

Abdulgalil, MA, Nasr, MM, Elalfy, MH, Khamis, A & Karray, F 2019, Multi-robot SLAM: An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM. in H Myung, W Xu, J-W Jung, H-L Choi, J-H Kim, J Kim & ET Matson (eds), Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications. Advances in Intelligent Systems and Computing, vol. 751, Springer Verlag, pp. 165-183, 5th International Conference on Robot Intelligence Technology and Applications, RiTA 2017, Daejeon, Korea, Republic of, 13/12/17. https://doi.org/10.1007/978-3-319-78452-6_15

Multi-robot SLAM: An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM. / Abdulgalil, Mahmoud A.; Nasr, Mahmoud M.; Elalfy, Mohamed H. et al.
Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications. ed. / Hyun Myung; Weiliang Xu; Jin-Woo Jung; Han-Lim Choi; Jong-Hwan Kim; Junmo Kim; Eric T Matson. Springer Verlag, 2019. p. 165-183 (Advances in Intelligent Systems and Computing; Vol. 751).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Multi-robot SLAM

T2 - 5th International Conference on Robot Intelligence Technology and Applications, RiTA 2017

AU - Abdulgalil, Mahmoud A.

AU - Nasr, Mahmoud M.

AU - Elalfy, Mohamed H.

AU - Khamis, Alaa

AU - Karray, Fakhri

N1 - Publisher Copyright: © Springer International Publishing AG, part of Springer Nature 2019.

PY - 2019

Y1 - 2019

N2 - In recent years, multi-robot systems (MRS) have received attention from researchers in academia, government laboratories and industry. This research activity has borne fruit in tackling some of the challenging problems that are still open. One is multi-robot simultaneous localization and mapping (MR-SLAM). This paper provides an overview of the latest trends in tackling the problem of (MR-SLAM) focusing on Robot Operating System (ROS) enabled package designed to solve this problem through enabling the robots to share their maps and merge them over a WiFi network. This package had some out-of-date dependencies and worked with some packages that no longer exist. The package has been modified to handle these dependencies. The C-SLAM package was then tested with 2 robots using Gmapping and Hector SLAM packages. Quantitative metrics were used to evaluate the accuracy of the generated maps by comparing it to the ground truth map, including Map Score and Occupied/Free cells ratio.

AB - In recent years, multi-robot systems (MRS) have received attention from researchers in academia, government laboratories and industry. This research activity has borne fruit in tackling some of the challenging problems that are still open. One is multi-robot simultaneous localization and mapping (MR-SLAM). This paper provides an overview of the latest trends in tackling the problem of (MR-SLAM) focusing on Robot Operating System (ROS) enabled package designed to solve this problem through enabling the robots to share their maps and merge them over a WiFi network. This package had some out-of-date dependencies and worked with some packages that no longer exist. The package has been modified to handle these dependencies. The C-SLAM package was then tested with 2 robots using Gmapping and Hector SLAM packages. Quantitative metrics were used to evaluate the accuracy of the generated maps by comparing it to the ground truth map, including Map Score and Occupied/Free cells ratio.

KW - C-SLAM

KW - Data association

KW - Map merging

KW - Multi-robot SLAM

KW - Occupancy grid map

KW - ROS

KW - SLAM

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U2 - 10.1007/978-3-319-78452-6_15

DO - 10.1007/978-3-319-78452-6_15

M3 - Conference contribution

AN - SCOPUS:85048234836

SN - 9783319784519

T3 - Advances in Intelligent Systems and Computing

SP - 165

EP - 183

BT - Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications

A2 - Myung, Hyun

A2 - Xu, Weiliang

A2 - Jung, Jin-Woo

A2 - Choi, Han-Lim

A2 - Kim, Jong-Hwan

A2 - Kim, Junmo

A2 - Matson, Eric T

PB - Springer Verlag

Y2 - 13 December 2017 through 15 December 2017

ER -

Abdulgalil MA, Nasr MM, Elalfy MH, Khamis A, Karray F. Multi-robot SLAM: An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM. In Myung H, Xu W, Jung JW, Choi HL, Kim JH, Kim J, Matson ET, editors, Robot Intelligence Technology and Applications 5 - Results from the 5th International Conference on Robot Intelligence Technology and Applications. Springer Verlag. 2019. p. 165-183. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-319-78452-6_15

Multi-robot SLAM: An overview and quantitative evaluation of MRGS ROS framework for MR-SLAM

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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Cite this