Towards Collaborative Mapping and Exploration Using Multiple Micro Aerial Robots

Sikang Liu, Kartik Mohta, Shaojie Shen, Vijay Kumar

Abstract: In this paper, we present a system for collaborative mapping and exploration with multiple quad rotor robots. The basic architecture and development of the algorithms for mapping and exploration validate our system with both simulation and real-world experiments. We utilize the 2.5-D structure of typical indoor environments and demonstrate the deployment of multiple autonomous quadrotors equipped with IMUs and laser scanners engaged in collaborative exploration. Estimation, control and planing algorithms are highly integrated in our system to achieve robust and efficient exploration behaviors.