DAGmap: Multi-Drone SLAM via a DAG-Based Distributed Ledger
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Seongjoon | - |
dc.contributor.author | Kim, Hwangnam | - |
dc.date.accessioned | 2022-04-01T18:40:25Z | - |
dc.date.available | 2022-04-01T18:40:25Z | - |
dc.date.created | 2022-04-01 | - |
dc.date.issued | 2022-02 | - |
dc.identifier.issn | 2504-446X | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/139390 | - |
dc.description.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. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | MDPI | - |
dc.subject | BLOCKCHAIN | - |
dc.title | DAGmap: Multi-Drone SLAM via a DAG-Based Distributed Ledger | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Kim, Hwangnam | - |
dc.identifier.doi | 10.3390/drones6020034 | - |
dc.identifier.scopusid | 2-s2.0-85123795718 | - |
dc.identifier.wosid | 000764312600001 | - |
dc.identifier.bibliographicCitation | DRONES, v.6, no.2 | - |
dc.relation.isPartOf | DRONES | - |
dc.citation.title | DRONES | - |
dc.citation.volume | 6 | - |
dc.citation.number | 2 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Remote Sensing | - |
dc.relation.journalWebOfScienceCategory | Remote Sensing | - |
dc.subject.keywordPlus | BLOCKCHAIN | - |
dc.subject.keywordAuthor | multi-agent SLAM | - |
dc.subject.keywordAuthor | distributed ledger technology | - |
dc.subject.keywordAuthor | DAG-based DLT | - |
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