Collaborative Simultaneous Localization and Mapping Dataset on Mars Analogue Terrain with Inter-Robot Communication Estimates
- Citation Author(s):
-
Pierre-Yves Lajoie
(Polytechnique Montreal)
Karthik Soma
(Polytechnique Montreal)
Haechan Bong
(Polytechnique Montreal)
Alice Lemieux-Bourque (Polytechnique Montreal)Rongge Zhang (Polytechnique Montreal)Vivek Shankar Varadharajan
(Polytechnique Montreal)
Giovanni Beltrame
(Polytechnique Montreal)
- Submitted by:
- Pierre-Yves Lajoie
- Last updated:
- DOI:
- 10.21227/z1zp-e621
- Data Format:
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Abstract
Decentralized Collaborative Simultaneous Localization and Mapping (C-SLAM) is essential to enable multi-robot missions in unknown environments without relying on pre-existing localization and communication infrastructure. This technology is anticipated to play a key role in the exploration of the Moon, Mars, and other planets. In this work, we introduce a novel dataset collected during C-SLAM experiments involving three robots operating on a Mars analogue terrain. The dataset includes real-time peer-to-peer inter-robot throughput and latency measurements, providing a valuable resource to support future research on communication-constrained, decentralized multi-robot operations.
Instructions:
Dataset Documentation: Decentralized Collaborative SLAM on Mars Analogue Terrain
Sensor Data (ROSBAG Files):
- Separate .bag files (bz2 compressed) for each robot (robot1.bag, robot2.bag, robot3.bag), including LiDAR, IMU, odometry, inter-robot latency, inter-robot throughput, GPS data.
- Extrinsic calibration files (.txt) relative sensor positions and orientations.
Install ROS and tools for .bag file handling.
Replay bags using: rosbag play robot1.bag
Other rosbag tools (such as decompression): https://wiki.ros.org/rosbag/Commandline
To convert the bags to ROS 2: https://gitlab.com/ternaris/rosbags
We also provide addtional evaluation scripts (ROS 2 launch files) and our reference solution (.tum files).
For questions, email Pierre-Yves Lajoie (pierre-yves.lajoie@polymtl.ca)
