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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-10272023-161838


Tipo di tesi
Tesi di laurea magistrale
Autore
LEMBO, GABRIELLA
URN
etd-10272023-161838
Titolo
Multi-agent Algorithm for Environment Mapping Based on ORB-SLAM3
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Avizzano, Carlo Alberto
correlatore Satler, Massimo
Parole chiave
  • collaborative
  • mapping
  • multi-agent
  • orb
  • slam
Data inizio appello
23/11/2023
Consultabilità
Non consultabile
Data di rilascio
23/11/2093
Riassunto
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.
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