4 papers · 1 filter
Policies over Poses: Reinforcement Learning based Distributed Pose-Graph Optimization for Multi-Robot SLAM
Sai Krishna Ghanta, Ramviyas Parasuraman
We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM…
MGPRL: Distributed Multi-Gaussian Processes for Wi-Fi-based Multi-Robot Relative Localization in Large Indoor Environments
Sai Krishna Ghanta, Ramviyas Parasuraman
Relative localization is a crucial capability for multi-robot systems operating in GPS-denied environments. Existing approaches for multi-robot relative localization often depend o…
SPACE: 3D Spatial Co-operation and Exploration Framework for Robust Mapping and Coverage with Multi-Robot Systems
Sai Krishna Ghanta, Ramviyas Parasuraman
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying…
3DS-SLAM: A 3D Object Detection based Semantic SLAM towards Dynamic Indoor Environments
Ghanta Sai Krishna, Kundrapu Supriya, Sabur Baidya
The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in S…