Supervisión de sistemas multi-robot mediante proyección adaptativa sobre mapa común

  1. Bayón Gutiérrez, Martín 1
  2. Prieto Fernández, Natalia 1
  3. García Ordás, María Teresa 1
  4. Benavides, Carmen 1
  5. Benítez Andrades, José Alberto 1
  1. 1 Universidad de León
    info
    Universidad de León

    León, España

    ROR https://ror.org/02tzt0b78

    Geographic location of the organization Universidad de León
Journal:
Jornadas de Automática
  1. Mulero Martínez, Juan Ignacio (coord.)
  2. Baños Torrico, Alfonso (coord.)
  3. Torres Sánchez, Roque (coord.)

ISSN: 3045-4093

Year of publication: 2025

Issue: 46

Type: Article

DOI: 10.17979/JA-CEA.2025.46.12270 DIALNET GOOGLE SCHOLAR lock_openOpen access editor
BULERIA. Repositorio Institucional de la Universidad de León: lock_openOpen access Externo

Abstract

This manuscript presents a system for the adaptive representation of the pose of multiple robotic platforms operating in the same environment. The system is based on the CAD2SLAM methodology and projects the individual positions of each robot onto a common base map employing a non-rigid projection grid adjusted using a set of correspondence points and least-squares optimization. This enables a coherent and easy to understand representation of each robot’s relative position, regardless of the type of sensors or SLAM system. The human operator can supervise the global state of the multi-robot system in a more intuitive and efficient manner, without altering the internal architecture and the normal operation of the robots. Validated in both simulated and real-world scenarios, it demonstrates robustness and real-time execution. The main novelty of this system lies in the use of a base map as a common reference system for all robots, facilitating cooperation between heterogeneous platforms and improving the visual interpretation of the environment.

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