Tootfinder

Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping
Arash Asgharivaskasi, Nikolay Atanasov
https://arxiv.org/abs/2402.08867

Distributed Optimization with Consensus Constraint for Multi-Robot Semantic Octree Mapping
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation log-likelihood of each robot subject to a map consensus constraint to build a common multi-class map of the environment. This formulation leads to closed-form updates which resemble Bayes rule with one-hop prior averaging. To reduce the amount of information e…