1. Deep Compressed Communication and Application in Multi-Robot 2D-Lidar SLAM: An Intelligent Huffman Algorithm.
- Author
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Zhang, Liang and Deng, Jinghui
- Subjects
- *
CONVOLUTIONAL neural networks , *RUN-length encoding , *HUFFMAN codes , *FEATURE extraction , *DATA compression , *MAP design , *ALGORITHMS , *MOBILE robots - Abstract
Multi-robot Simultaneous Localization and Mapping (SLAM) systems employing 2D lidar scans are effective for exploration and navigation within GNSS-limited environments. However, scalability concerns arise with larger environments and increased robot numbers, as 2D mapping necessitates substantial processor memory and inter-robot communication bandwidth. Thus, data compression prior to transmission becomes imperative. This study investigates the problem of communication-efficient multi-robot SLAM based on 2D maps and introduces an architecture that enables compressed communication, facilitating the transmission of full maps with significantly reduced bandwidth. We propose a framework employing a lightweight feature extraction Convolutional Neural Network (CNN) for a full map, followed by an encoder combining Huffman and Run-Length Encoding (RLE) algorithms to further compress a full map. Subsequently, a lightweight recovery CNN was designed to restore map features. Experimental validation involves applying our compressed communication framework to a two-robot SLAM system. The results demonstrate that our approach reduces communication overhead by 99% while maintaining map quality. This compressed communication strategy effectively addresses bandwidth constraints in multi-robot SLAM scenarios, offering a practical solution for collaborative SLAM applications. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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