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Multi-robot Collaborative Mapping in Photorealistic Simulator


Term:

IAP and Spring

Department:

16: Aeronautics and Astronautics

Faculty Supervisor:

Jonathan How

Faculty email:

jhow@mit.edu

Apply by:

12/31/2021

Contact:

Applicants should send an introduction email to Dr. Kaveh Fathian (kavehf@mit.edu) and attach their resume/CV. A C++ coding interview will be conducted before hiring. A successful UROP will have the option to continue for the Spring/Summer semesters.

Project Description

In the Aerospace Control Laboratory (http://acl.mit.edu/), we are working on developing algorithms that allow a team of robots to collaboratively explore and map an unknown environment. Our goal is to implant these algorithms and demonstrate that they can merge individual robot observations to construct a unified map of the environment. As an important step before real-world deployment, we are looking for UROPs with good C++ programming skills, and an interest in robotics, that can test and verify these algorithms in a photorealistic simulator (based on the Unity game engine). The UROP will work with postdocs and graduate students and is responsible for ROS implementation of the algorithms in the Unity-based simulator (see figures). The software stack is mainly based on C++ and collaboration with other team members using GIT version control is required. Other responsibilities include status updates, challenges, implementation details, simulation videos, and results during periodic reviews and group meetings. Applicants should send an introduction email to Dr. Kaveh Fathian (kavehf@mit.edu) and attach their resume/CV. A C++ coding interview will be conducted before hiring. A successful UROP will have the option to continue for the Spring/Summer semesters.

Pre-requisites

- Experience with ROS and Linux is required - Experience with C++ programming and the ability to identify and fix bugs - Experience with Git version control and working in a team-based project - Python experience is a plus