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Distributed-Mapper

This library is an implementation of the algorithm described in Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach. The core library is developed in C++ language.

Distributed-Mapper is developed by Siddharth Choudhary, Luca Carlone, Carlos Nieto and John Rogers as part of the collaboration between Georgia Tech, MIT and Army Research Lab.

Prerequisites

  • CMake (Ubuntu: sudo apt-get install cmake), compilation configuration tool.
  • Boost (Ubuntu: sudo apt-get install libboost-all-dev), portable C++ source libraries.
  • GTSAM develop branch, a C++ library that implement smoothing and mapping (SAM) framework in robotics and vision. Here we use factor graph implementations and inference/optimization tools provided by GTSAM. This repository has been tested on the latest develop branch of GTSAM 4.0 (Commit ID: d304358deeaa4625cf24a8e0d94145bb3435d5bc).
  • To install a particular commit of GTSAM follow the following instructions:
$ git clone https://github.com/borglab/gtsam.git && cd gtsam
$ git checkout d304358deeaa4625cf24a8e0d94145bb3435d5bc -b dist-mapper
$ mkdir build && cd build
$ cmake ..
$ make -j$(nproc)
$ sudo make install

Compilation & Installation

In the distributed_mapper_core/cpp folder excute:

$ mkdir build
$ cd build
$ cmake ..
$ make -j3
$ make check  # optional, run unit tests
$ make install

Run Experiments On Simulated Block World data

In the distributed_mapper_core/cpp/build folder, run:

$ make testDistributedMapper.run

To plot per-robot graph errors, convergence and other statistics: change the variable nrRobots and filename in matlab/plotTrace.m and run it. filename corresponds to the tracefile name mentioned in the unit test. See plotTrace.m for an example.

Run Distributed Mapper on a dataset

In the distributed_mapper_core/cpp/build/ folder, run:

$ ./runDistributedMapper --nrRobots <num_robots> --dataDir <data_directory>

For example:

$ ./runDistributedMapper --nrRobots 2 --dataDir ../../data/example_2robots/

OR

$ ./runDistributedMapper --nrRobots 4 --dataDir ../../data/example_4robots/
$ ./runDistributedMapper --nrRobots 9 --dataDir ../../data/example_9robots/
$ ./runDistributedMapper --nrRobots 16 --dataDir ../../data/example_16robots/
$ ./runDistributedMapper --nrRobots 25 --dataDir ../../data/example_25robots/
$ ./runDistributedMapper --nrRobots 36 --dataDir ../../data/example_36robots/
$ ./runDistributedMapper --nrRobots 49 --dataDir ../../data/example_49robots/

Data Format

Each robot's graph is written in g2o format and is indexed from 0. For example, for a 4 robot scenario, the directory will contain 0.g2o, 1.g2o, 2.g2o and 3.g2o. An example dataset for 4 robots is given in data/example_4robots. Each robot is specified using a character prefix symbol like 'a', 'b', 'c', 'd' for 4 robot case.

Vertices

All the vertices corresponding to the first robot will be prefixed using 'a' using gtsam.Symbol like gtsam.Symbol('a', 1), gtsam.Symbol('a',2) etc. Similarly the second robot will be prefixed using 'b' like gtsam.Symbol('b', 1), gtsam.Symbol('b',2) etc. For example, the vertices for the first robot (in 0.g2o) in 4 robot scenario is written as,

VERTEX_SE3:QUAT 6989586621679009792 0.324676 0.212487 0.042821 0.00270783 0.0121983 0.00760222 0.999893
VERTEX_SE3:QUAT 6989586621679009793 0.0716917 2.00724 -0.0729262 -0.00363348 0.00166876 0.00765756 0.999963
VERTEX_SE3:QUAT 6989586621679009796 1.99449 0.184786 -0.0642561 0.0125092 0.0130271 0.00220908 0.999834
VERTEX_SE3:QUAT 6989586621679009797 1.93989 1.89999 0.143294 0.00127135 0.0167209 0.0057457 0.999843
VERTEX_SE3:QUAT 6989586621679009808 0.487317 0.0604815 2.01166 0.00685618 0.00528219 -0.00553837 0.999947
VERTEX_SE3:QUAT 6989586621679009809 -0.351155 1.94853 2.14991 -0.000449498 -0.00170132 -0.00501099 0.999986
VERTEX_SE3:QUAT 6989586621679009812 1.95844 0.179349 2.08246 -0.0015633 -0.00662232 0.00133146 0.999976
VERTEX_SE3:QUAT 6989586621679009813 2.01223 2.04334 1.72038 -0.0031675 0.00127498 0.00478204 0.999983
VERTEX_SE3:QUAT 6989586621679009824 0.375458 0.121848 3.97795 -0.00206729 0.00230435 0.00676051 0.999972
VERTEX_SE3:QUAT 6989586621679009825 0.0907182 1.8793 3.8406 0.00151304 0.000763284 0.00242012 0.999996
VERTEX_SE3:QUAT 6989586621679009828 1.78298 -0.141432 3.93967 -0.00459483 -0.0122962 -0.00755554 0.999885
VERTEX_SE3:QUAT 6989586621679009829 1.80735 2.22278 3.68278 0.00296836 -0.000200073 -0.0104751 0.999941
VERTEX_SE3:QUAT 6989586621679009840 0.157452 -0.255627 5.88308 0.00907326 0.0300276 0.0308352 0.999032
VERTEX_SE3:QUAT 6989586621679009841 0.021695 1.93194 5.81483 0.00423999 0.00464847 -0.00542489 0.999965
VERTEX_SE3:QUAT 6989586621679009844 1.8204 -0.431461 6.01878 0.00230292 -0.00198441 0.00720772 0.999969
VERTEX_SE3:QUAT 6989586621679009845 1.92566 2.23857 6.19073 0.0152246 0.0101054 -0.00845407 0.999797

Intra-Robot Edges

All the non-communication edges corresponding to the first robot is written in g2o format in 0.g2o and likewise for the other robots in 1.g2o, 2.g2o, 3.g2o respectively. For example, the intra-robot edges for the first robot (in 0.g2o) in 4 robot scenario is written as,

EDGE_SE3:QUAT 6989586621679009792 6989586621679009793 -0.390787 2.11308 0.0155589 0.00042254 -0.00328797 -0.010647 0.999938 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009792 6989586621679009796 2.30676 0.546708 0.0334878 -0.00546279 -0.00389958 0.00693602 0.999953 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009793 6989586621679009797 2.05794 0.233082 -0.181741 0.00845604 -0.0123624 -0.00407352 0.99988 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009796 6989586621679009797 -0.110238 1.98252 -0.0695641 0.0111376 -0.00568388 0.00216275 0.999919 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009792 6989586621679009808 0.0306595 -0.250865 1.76544 0.0014922 0.00916009 0.00622605 0.999938 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009808 6989586621679009809 -0.322983 2.44921 0.147856 -0.00149178 -0.0108401 -0.0127671 0.999859 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009793 6989586621679009809 -0.342576 -0.0919789 2.2182 -0.00111701 -0.0100567 -0.0180511 0.999786 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009808 6989586621679009812 2.09196 -0.0435013 0.159225 0.00238566 -0.00721739 -0.0031607 0.999966 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009796 6989586621679009812 0.104281 -0.198205 1.94937 -0.0269272 -0.009021 -0.0134929 0.999506 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009809 6989586621679009813 1.83031 -0.0480742 0.120586 -0.00384726 0.000411292 0.00880903 0.999954 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009812 6989586621679009813 -0.284145 2.13387 0.136647 0.00681912 -0.000686726 -0.013227 0.999889 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009797 6989586621679009813 0.161651 0.115788 2.15257 0.00367834 -0.0131576 -0.00764767 0.999877 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009808 6989586621679009824 0.0574064 -0.0929209 2.07686 -0.00229244 0.0244892 0.0109378 0.999638 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009824 6989586621679009825 -0.169446 1.88482 -0.0151826 0.0141175 -0.000934893 -0.00330174 0.999894 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009809 6989586621679009825 -0.19564 -0.128205 2.1041 0.0177383 0.0125375 -0.00137839 0.999763 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009824 6989586621679009828 2.28126 0.0993667 0.0165661 0.0171145 0.00232563 0.00442653 0.999841 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009812 6989586621679009828 -0.309201 0.0866565 2.02059 0.00138903 0.0162411 -0.0135298 0.999776 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009825 6989586621679009829 1.73039 -0.35086 -0.0727618 -0.00615263 0.00433336 -0.00495048 0.999959 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009828 6989586621679009829 -0.0416471 1.69897 0.361948 -0.0130913 0.0039124 -0.00542152 0.999892 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009813 6989586621679009829 0.181719 -0.230844 2.25151 0.00432985 0.010696 -0.00106693 0.999933 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009824 6989586621679009840 0.0508859 -0.0305667 1.88852 0.00665235 -0.00531186 0.0022339 0.999961 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009840 6989586621679009841 -0.0479563 2.1842 -0.181376 0.0040515 0.00743545 0.00587749 0.999947 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009825 6989586621679009841 -0.168767 0.388688 1.95062 -0.00167067 0.0121836 0.00128056 0.999924 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009840 6989586621679009844 1.90164 -0.19386 -0.0948216 -0.0140169 0.0117721 -0.00722882 0.999806 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009828 6989586621679009844 -0.164132 0.0202259 2.2168 -0.00906032 0.00422716 -0.00577513 0.999933 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009841 6989586621679009845 2.12955 0.209913 0.264619 -0.00740909 0.0158267 -0.0160603 0.999718 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009844 6989586621679009845 -0.121132 2.05434 0.0717287 -0.00141595 0.000218583 -0.00451449 0.999989 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009829 6989586621679009845 -0.00151322 0.142061 1.90749 0.0233327 0.00108301 -0.00310063 0.999722 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1

Inter-Robot Communication Edges

Communication edges between the two robots are written in the g2o files corresponding to both the robots. For example, the communication edges between the first and second robot (in 0.g2o and 1.g2o) in 4 robot scenario is written as,

EDGE_SE3:QUAT 6989586621679009793 7061644215716937730 0.160437 1.90624 -0.00931847 0.00910267 0.0069412 0.000641041 0.999934 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009797 7061644215716937734 -0.00807974 2.13944 0.0337605 -0.0165965 -0.0143173 0.00265868 0.999756 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009809 7061644215716937746 -0.111132 1.72969 0.0728423 -0.00874126 -0.000574261 -0.0014352 0.999961 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009813 7061644215716937750 -0.227448 2.1286 -0.00255201 0.0131718 0.00877742 0.001412 0.999874 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009825 7061644215716937762 0.111804 2.11273 -0.0676793 0.0143307 0.0173408 -0.00356963 0.999741 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009829 7061644215716937766 -0.0236693 1.74212 0.0115127 0.00212283 0.00521578 0.00242397 0.999981 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009841 7061644215716937778 0.0934036 2.00091 0.0652181 0.00253681 -0.00700303 0.00387134 0.999965 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1
EDGE_SE3:QUAT 6989586621679009845 7061644215716937782 0.145824 2.18015 -0.265128 0.000747624 0.00244069 -0.00381022 0.999989 1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1

Questions & Bug reporting

Please use Github issue tracker to report bugs. For other questions please contact Siddharth Choudhary.

Acknowledgements

This work was partially funded by the ARL MAST CTA Project 1436607 “Autonomous Multifunctional Mobile Microsystems”.

Citing

If you use this work, please cite any of the following publications:

@inproceedings{Choudhary16icra,
  author    = {Siddharth Choudhary and
               Luca Carlone and
	       Carlos Nieto and
	       John Rogers and
               Henrik I. Christensen and
               Frank Dellaert},
  title     = {Distributed Trajectory Estimation with Privacy and Communication Constraints:
a Two-Stage Distributed Gauss-Seidel Approach},
  booktitle = {IEEE International Conference on Robotics and Automation 2016},
  year      = {2016}
}

@article{Choudhary17arXiv,
  author    = {Siddharth Choudhary and
               Luca Carlone and
               Carlos Nieto{-}Granda and
               John G. Rogers III and
               Henrik I. Christensen and
               Frank Dellaert},
  title     = {Distributed Mapping with Privacy and Communication Constraints: Lightweight
               Algorithms and Object-based Models},
  journal   = {CoRR},
  volume    = {abs/1702.03435},
  year      = {2017},
  url       = {http://arxiv.org/abs/1702.03435},
}

License

Distributed-Mapper is released under the BSD license, reproduced in the file LICENSE in this directory.



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