Multi-Agent SLAM and navigation using ROSBot

Dec 30 2021: Abhishek Nayak

In this project, I implemented multi-agent SLAM to obtain occupancy grid maps from point-cloud data via autonomous frontier exploration using ROSBots 2.0 by Husarion. I tinkered around to establish navigation capabilities on this robot and used algorithms like Dijkstra, A*, D* lite, RRT, and Probabilistic Roadmap (PRM) planners for indoor navigation. Further, I used these robots as a platform for demonstrating proof-of-concept prototypes of multi-agent path planning methods developed as part of my Ph.D. thesis “Planning and Vision-based tools for Autonomous Vehicles.