On the Way from Lightweight to Powerful Intelligence: A Heterogeneous Multi-Robot Social System with IoT Devices

摘要

As robots play an increasingly important role in people’s lives, researchers are working on robotic vehicles with powerful intelligence. However, a problem that cannot be ignored is resource constraints on the edge. Considering the gaming issues of resource constraints and intelligence level, we focus on robots with limited computing resources and propose an idea of changing from lightweight to powerful intelligence for a smart robotic system. Firstly, we design a series of ultra-lightweight algorithms according to the lightweight resource Limitation. Second, we collaborate the ultra-lightweight algorithms through a centralized-distributed architecture to achieve intelligent upgrading of the whole system. Then, by maximizing the use of resources and information, we accomplish a heterogeneous ultra-lightweight multi-robotic collaborative system. Finally, the presented architecture has been applied to realize a lightweight simultaneous localization and mapping (SLAM) system. Experimentally, the ultra-lightweight algorithm achieves 900 fps on the server experimental platform. Since there have been less heterogeneous collaborative methods, we further compared it with the state-of-the-art homogeneous collaborative system and proved that the accuracy of our proposed system was improved by 45.98%.