Multi-Robot Distributed Perception
NSFC Project – collaborative perception for robot clusters
Overview
This project builds a multi-robot distributed perception system that enables a cluster of mobile robots to perceive and localize collaboratively in complex environments.
Role
- System Architect
Funding Source
- National Natural Science Foundation of China (NSFC) Project
Contributions
- Designed and implemented a cluster experimental platform using multiple DashGo robots for large-scale validation.
- Developed a distributed communication interface in ROS, supporting real-time sharing of visual and pose information across robots.
- Proposed a co-visibility–based collaborative visual localization algorithm, significantly improving robustness under occlusion and viewpoint changes.
Techniques & Tools
- Multi-robot systems and distributed architecture
- ROS-based communication middleware
- Visual SLAM and co-visibility graph reasoning
Related Publications
Key methods and results from this project are described in the following papers (Jiang et al., 2024; Jiang et al., 2025).
