3 papers
cs.RO2023
Graph-based Global Robot Simultaneous Localization and Mapping using Architectural Plans
Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle +3
In this paper, we propose a solution for graph-based global robot simultaneous localization and mapping (SLAM) using architectural plans. Before the start of the robot operation, t…
cs.RO2023
Multi S-graphs: A Collaborative Semantic SLAM architecture
Miguel Fernandez-Cortizas, Hriday Bavle, Jose Luis Sanchez-Lopez +2
Collaborative Simultaneous Localization and Mapping (CSLAM) is a critical capability for enabling multiple robots to operate in complex environments. Most CSLAM techniques rely on…
cs.RO2023
Graph-based Global Robot Localization Informing Situational Graphs with Architectural Graphs
Muhammad Shaheer, Jose Andres Millan-Romera, Hriday Bavle +3
In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method…