Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned
Pierre-Yves Lajoie, Karthik Soma, Haechan Mark Bong, Alice Lemieux-Bourque, Rongge Zhang, Vivek shankar Varadharajan, Giovanni Beltrame
AI summary
Problem
Multirobot planetary exploration demands robust localization and mapping without preexisting infrastructure or continuous connectivity, yet decentralized C-SLAM struggles with intermittent communication, perceptual aliasing, and terrain-induced drift.
Approach
The team deployed a decentralized three-robot system using the Swarm-SLAM framework over an ad hoc network on a Mars analogue terrain, collecting a novel dataset with LiDAR, IMU, and real-time inter-robot communication metrics to evaluate performance and identify operational challenges.
Key results
- Successful deployment of a decentralized three-robot C-SLAM system on Mars analogue terrain
- Release of a novel dataset featuring LiDAR, IMU, and real-time peer-to-peer communication throughput and latency
- Demonstration that decentralized C-SLAM remains functional under intermittent connectivity but suffers from perceptual aliasing and vibration-induced drift
- Identification of critical calibration trade-offs between mapping accuracy and communication/computational efficiency
Why it matters
Provides actionable insights and a critical benchmark dataset for developing resilient multirobot exploration systems for future lunar and Martian missions.
Abstract
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is anticipated to play a key role in the exploration of the Moon, Mars, and other planets. In this article, we share insights and lessons learned from C-SLAM experiments involving three robots operating on a Mars analogue terrain and communicating over an ad hoc network. We examine the impact of limited and intermittent communication on C-SLAM performance, as well as the unique localization challenges posed by planetary-like environments. Additionally, we introduce a novel dataset collected during our experiments, which includes real-time peer-to-peer inter-robot throughput and latency measurements. This dataset aims to support future research on communication-constrained, decentralized multirobot operations.