Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/163473
Title: Multi-SLAM for swarm application
Authors: Tan, Chen Qiu
Keywords: Engineering::Mechanical engineering
Issue Date: 2022
Publisher: Nanyang Technological University
Source: Tan, C. Q. (2022). Multi-SLAM for swarm application. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/163473
Abstract: Alongside an increasing adoption of autonomous robots in more fields, much research has gone into improving the effectiveness of Simultaneous Localization and Mapping (SLAM). Multi-SLAM is one example of such research. It is a specific application of Simultaneous Localization and Mapping (SLAM) that carries out mapping with multiple robots and is expected to have several advantages over SLAM. Some of this include faster mapping time and eliminating a single point of failure in the mapping process. This report will hence explore the implementation of Cartographer algorithm of multi-SLAM and discuss its benefits and drawbacks. This is done by implementing Cartographer SLAM on a WaveShare Robot with a LiDAR sensor and analyzing the mapping result on RViz.
URI: https://hdl.handle.net/10356/163473
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

Files in This Item:
File Description SizeFormat 
FYP Report Final DRNTU Version.pdf
  Restricted Access
1.9 MBAdobe PDFView/Open

Page view(s)

19
Updated on Jan 26, 2023

Download(s)

2
Updated on Jan 26, 2023

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.