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arXiv · 2410.00122

Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications

Zachary Fuge·Benjamin Beiter·Alexander Leonessa
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Abstract

This work presents the design and development of the quadruped robot Squeaky to be used as a research and learning platform for single and multi-SLAM robotics, computer vision, and reinforcement learning. Affordable robots are becoming necessary when expanding from single to multi-robot applications, as the cost can increase exponentially as fleet size increases. SLAM is essential for a robot to perceive and localize within its environment to perform applications such as cave exploration, disaster assistance, and remote inspection. For improved efficiency, a fleet of robots can be employed to combine maps for multi-robot SLAM. Squeaky is an affordable quadrupedal robot, designed to have easily adaptable hardware and software, capable of creating a merged map under a shared network from multiple robots, and available open-source for the benefit of the research community.

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Zachary Fuge, Benjamin Beiter, Alexander Leonessa. 2024-09-30. Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications. https://arxiv.org/abs/2410.00122

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