Multi-Robot Graph SLAM at ICARA 2024

The paper titled “Multi-Robot Graph SLAM using LIDAR” was presented at the International Conference on Automation, Robotics, and Applications (ICARA 2024) in Athens, Greece. This algorithm adopts a decentralized approach, where each robot independently executes its instance of the SLAM process. Through the exchange of SLAM information, each robot constructs a detailed map of its surrounding environment from its own perspective.

The algorithm is deployed in VaMEx3. Check out the source code for this project on GitHub. Feel free to explore and contribute to this collaborative effort in advancing robotics technology.

Above you can see multi-robot graph SLAM simulation results. Nodes, edges, and SLAM point cloud of robot 1 visualized in rviz on the left. The simulation environment and two robots exploring the map are displayed on the right. Only results of robot 1 are visualized, while all information from robot 2 is integrated via the cooperative SLAM.

Looking ahead, the SLAM system is planned to be enhanced to incorporate additional sensor modalities, such as RADAR, radio navigation, and inertial measurement units, to further improve mapping accuracy and robustness.

Paper at the ACM SUI 2023

Sydney, where the SUI23 took place

The team is happy to announce that our paper entitled “How Observers Perceive Teleport Visualizations in Virtual Environments” was presented and published at the ACM Symposium on Spatial User Interaction (SUI) on October 13, 2023. The goal of our research was to investigate how the popular VR locomotion method teleportation can be visualized and understood by other participants in a shared multi-user environment, such as our VTB. Our results have shown that a visualization, for example by means of a walking animation of the avatar, can lead to significant advantages with regard to important aspects such as presence and spatial awareness. With these findings and a corresponding implementation of suitable visualizations in the VTB, we will be able to significantly increase its user-friendliness in multi-user mode.