The Borg Lab

DDF-SAM

The aim of the DDF-SAM project is to enable teams of robots to explore dangerous environments, such as battlefields and disaster areas, and provide an online localization and mapping solution that is scalable and robust to both communication and robot failure.  The name DDF-SAM comes from the combination of Decentralized Data Fusion (DDF) techniques developed by the sensor network community with the state-of-the-art Smoothing and Mapping (SAM) algorithms that have become prevalent through the SLAM community. 

The DDF-SAM approach to multi-robot SLAM focuses on flexibility of representation to adjust for robot capabilities, and uses an appoach of sending summarized map information between robots.  Robots in the network can choose exactly how much information to share with neighboring robots depending on relevance to joint mission requirements, as well as communication and processing requirements. 

Sponsor

This project is funded by ARL's Micro Autonomous Systems and Technology (MAST) collaborative technical alliance (CTA), focusing on creating distributed inference solutions to enable soldiers to use teams of small robots for battlefield situational awareness. 

People

Alex Cunningham
Frank Dellaert
Vadim Indelman
Manohar Paluri
Jason Antico

Related Papers

DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping
Cunningham A, Indelman V, Dellaert F
2013 IEEE International Conference on Robotics and Automation (ICRA)
2013
DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping, Cunningham, Alexander, Indelman Vadim, and Dellaert Frank , 2013 IEEE International Conference on Robotics and Automation (ICRA), 05/2013, Karlsruhe, Germany, (2013) Abstract
image/png iconCunningham13icra_thumbnail.png
Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating
Cunningham A, Indelman V, Dellaert F
2012 IEEE International Symposium on Safety, Security, and Rescue Robotics
2012
Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating, Cunningham, Alexander, Indelman Vadim, and Dellaert Frank , 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, 11/2012, College Station, TX., (2012)
image/png iconCunningham12ssrr_thumbnail.png
Fully Distributed Scalable Smoothing and Mapping with Robust Multi-robot Data Association
Cunningham A, Wurm K, Burgard W, Dellaert F
2012 IEEE International Conference on Robotics and Automation (ICRA)
2012
Fully Distributed Scalable Smoothing and Mapping with Robust Multi-robot Data Association, Cunningham, Alexander, Wurm Kai, Burgard Wolfram, and Dellaert Frank , 2012 IEEE International Conference on Robotics and Automation (ICRA), (2012)
image/png iconCunningham12icra.png
Large-scale Experimental Design for Decentralized SLAM
Cunningham A, Dellaert F
Unmanned Systems Technology XIV - SPIE Defense; Security; and Sensing
2012
Large-scale Experimental Design for Decentralized SLAM, Cunningham, Alexander, and Dellaert Frank , Unmanned Systems Technology XIV - SPIE Defense; Security; and Sensing, (2012)
image/png iconCunningham12spie_thumbnail.png
Results from MAST Joint Experiment 3.1
Rogers J, Cunningham A, Paluri M, Christensen H, Dellaert F, Michael N, Kumar V, Mathies L
Defense, Security and Sensing, SPIE.
2011
Results from MAST Joint Experiment 3.1, Rogers, John, Cunningham Alexander, Paluri Manohar, Christensen Henrik, Dellaert Frank, Michael Nathan, Kumar Vijay, and Mathies Larry , Defense, Security and Sensing, SPIE., 04/2011, Orlando, FL, (2011)
image/png iconRogers11spie_thumbnail.png
DDF-SAM: Fully Distributed SLAM using Constrained Factor Graphs
Cunningham A, Paluri M, Dellaert F
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2010
DDF-SAM: Fully Distributed SLAM using Constrained Factor Graphs, Cunningham, Alexander, Paluri Manohar, and Dellaert Frank , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10/2010, Taipei, Taiwan, (2010)
image/png iconCunningham12icra.png