Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems

Multi-robot simultaneous localization and mapping (SLAM) is a crucial capability to obtain timely situational awareness over large areas. Real-world applications demand multi-robot SLAM systems to be robust to perceptual aliasing and to operate under limited communication bandwidth; moreover, it is desirable for these systems to capture semantic information to enable high-level decision-making and spatial artificial intelligence. This article presents $ \mathsf{{Kimera-Multi}} $ , a multi-robot system that: 1) is robust and capable of identifying and rejecting incorrect inter- and intrarobot loop closures resulting from perceptual aliasing; 2) is fully distributed and only relies on local (peer-to-peer)…

• M
  MathWorks
• OO
  Office of Naval Research

  Awards: W911NF-17-2-0181, BRC Award N000141712072, N000141712072