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Journal Articles IEEE Transactions on Robotics Year : 2023

A Multirobot System for 3-D Surface Reconstruction With Centralized and Distributed Architectures

Abstract

In this article, we propose an original solution to the problem of surface reconstruction of large-scale unknown environments, with multiple cooperative robots. As they progress through the 3-D environment, the robots rely on volumetric maps obtained via a TSDF representation to extract discrete incomplete surface elements (ISEs), and a list of candidate viewpoints is generated to cover them. A next-best-view planning approach, which approximately solves a traveling salesman problem (TSP) via greedy allocation, is then used to iteratively assign these viewpoints to the robots. Two multiagent architectures, a centralized one (TSP-Greedy Allocation or TSGA) and a distributed one (dist-TSGA), in which the robots locally compute their maps and share them, are developed and compared. Extensive numerical and real-world experiments with multiple aerial and ground robots in challenging 3-D environments show the flexibility and effectiveness of our surface representation of a volumetric map. The experiments also shed light on the nexus between reconstruction accuracy and surface completeness, and between total distance traveled and execution time.
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Dates and versions

hal-04087486 , version 1 (04-07-2023)

Identifiers

Cite

Guillaume Hardouin, Julien Moras, Fabio Morbidi, Julien Marzat, El Mustapha Mouaddib. A Multirobot System for 3-D Surface Reconstruction With Centralized and Distributed Architectures. IEEE Transactions on Robotics, 2023, 39 (4), pp.2623-2638. ⟨10.1109/TRO.2023.3258641⟩. ⟨hal-04087486⟩
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