Recruitment Drive 2021

Workshop

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Collaborative SLAM

Project Advisor:
Mr. Ahsan Naeem
Presented By:
Tahir Khalil 2014-MC-02
Ali Hamza 2014-MC-06
Muhammad Azeem 2014-MC-07 2
Abstract
SLAM is the problem of determining the location of environmental
features with a roving robot. Many solutions for single-robot SLAM
exist; however, moving to a platform of multiple robots adds many
challenges to the existing problems. The aim of this project is to
develop such algorithm that enables two robots to move
autonomously through an unknown and GPS-denied environment
while constructing a combined/merged map of the environment.

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Objectives
 Making An algorithm that can enable two qbot 2 robots to roam
autonomously through an unknown environment.

 Localizing themselves in the environment as well as constructing a

real time map of that environment.

 Combined map will be constructed on a host computer with which

both robots are connected through wireless connection.

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Literature Survey
• Particle Filter[2][1]
• Extended Kalman Filter[1]
• Extended Information Filter[3][1]
• GraphSLAM[1]
• Cooperative Positioning System[1]
• Map Merging[4][1][5]
• FastSLAM[6][4]

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 Introduction (of SLAM)
• SLAM (Simultaneous Localization And Mapping)

• Robot takes in the information of its surrounding through different

sensors such as LIDARS, Cameras and Kinect.

• This data is used by robot’s on board computer to generate a map an

localize itself in the environment.

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Scope of Project
• Self Driving Car
• Space Exploration
• Underwater Exploration
• Aerial Robotics
• Rescue Operations in Natural Disasters
• Nanorobotics

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Specification of Robot
It has the following hardware components:
• A platform with an embedded computer system (Gumstix
DuoVero)

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• Microsoft XBOX 360 Kinect

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• Data Acquisition Card (DAQ)

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 Qbot 2 runs on MATLAB and Simulink which uses a licensed
library called QUARC.

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 Implemented Tasks
• Kinematic Model

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• Occupancy Grid Map

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• Edge Detection

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Project Schematic

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 NIST Standards
• Work will be done taking into account the ‘Navigation and
Localization’ section of NIST Interagency/Internal Report
(NISTIR) - 8022

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 Gantt Chart
15-Jun-17 20-Jul-17 24-Aug-17 28-Sep-17 2-Nov-17 7-Dec-17 11-Jan-18 15-Feb-18 22-Mar-18 26-Apr-18 31-May-18 5-Jul-18

Pitsco Kit (obstacle avoidance,

path tracking)

qbot 2 interfacing

SLAM Literature Review

Robot Navigation

Single robot SLAM

Double Robot SLAM and

Collaboration

Testing

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References
[1]-Saeedi, S., Trentini, M., Seto, M. and Li, H. (2016), Multiple-Robot Simultaneous
Localization and Mapping: A Review. J. Field Robotics, 33: 3–46. doi:10.1002/rob.21620
[2]-Andrew Howard.(2016), Multi-robot Simultaneous Localization and Mapping using
Particle Filters, The International Journal of Robotics Research,Vol 25, Issue 12, pp. 1243
– 1256
[3]-Thrun S., Liu Y. (2005) Multi-robot SLAM with Sparse Extended Information Filers.
In: Dario P., Chatila R. (eds) Robotics Research. The Eleventh International Symposium.
Springer Tracts in Advanced Robotics, vol 15. Springer, Berlin, Heidelberg
[4]-Özkucur N.E., Akın H.L. (2010) Cooperative Multi-robot Map Merging Using Fast-
SLAM. In: Baltes J., Lagoudakis M.G., Naruse T., Ghidary S.S. (eds) RoboCup 2009: Robot
Soccer World Cup XIII. RoboCup 2009. Lecture Notes in Computer Science, vol 5949.
Springer, Berlin, Heidelberg
[5]-Carpin, S. Auton Robot (2008) 25: 305. https://doi.org/10.1007/s10514-008-9097-4
[6]-Thrun, Sebastian & Montemerlo, Michael & Koller, Daphne & Wegbreit, Ben & Nieto,
Juan & Nebot, Eduardo. (2004). FastSLAM: An Efficient Solution to the Simultaneous
Localization And Mapping Problem with Unknown Data. Journal of Machine Learning
Research. 4. .

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