DAGmap: Multi-Drone SLAM via a DAG-Based Distributed Ledger
- Authors
- Park, Seongjoon; Kim, Hwangnam
- Issue Date
- 2월-2022
- Publisher
- MDPI
- Keywords
- multi-agent SLAM; distributed ledger technology; DAG-based DLT
- Citation
- DRONES, v.6, no.2
- Indexed
- SCIE
SCOPUS
- Journal Title
- DRONES
- Volume
- 6
- Number
- 2
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/139390
- DOI
- 10.3390/drones6020034
- ISSN
- 2504-446X
- Abstract
- Simultaneous localization and mapping (SLAM) in unmanned vehicles, such as drones, has great usability potential in versatile applications. When operating SLAM in multi-drone scenarios, collecting and sharing the map data and deriving converged maps are major issues (regarded as the bottleneck of the system). This paper presents a novel approach that utilizes the concepts of distributed ledger technology (DLT) for enabling the online map convergence of multiple drones without a centralized station. As DLT allows each agent to secure a collective database of valid transactions, DLT-powered SLAM can let each drone secure global 3D map data and utilize these data for navigation. However, block-based DLT-a so called blockchain-may not fit well to the multi-drone SLAM due to the restricted data structure, discrete consensus, and high power consumption. Thus, we designed a multi-drone SLAM system that constructs a DAG-based map database and sifts the noisy 3D points based on the DLT philosophy, named DAGmap. Considering the differences between currency transactions and data constructions, we designed a new strategy for data organization, validation, and a consensus framework under the philosophy of DAG-based DLT. We carried out a numerical analysis of the proposed system with an off-the-shelf camera and drones.
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