Tipo di tesi
Tesi di laurea magistrale
Titolo
Multi-agent Algorithm for Environment Mapping Based on ORB-SLAM3
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Riassunto (Italiano)
This thesis focuses on developing a Multi-agent Algorithm for Environment Mapping, utilizing ORB-SLAM3 as its foundation. The primary goal is to coordinate multiple robots for collaborative mapping of unfamiliar environments. The research objectives encompass using Visual Simultaneous Localization and Mapping (V-SLAM) on individual robots to create local environment maps and creating a map registration algorithm to synthesize a comprehensive global map from data collected by multiple robots engaged in simultaneous SLAM operations.
The study's evaluation criteria include mapping time and map density. In conclusion, this thesis presents an innovative approach to collaborative environment mapping, offering the potential for more efficient and effective mapping strategies in uncharted territories.
