A House of Quality Based Methodology for Designing Collaborative SLAM Architecture for UAV Swarms

Unmanned Aerial Vehicle (UAV) swarms have the potential to perform complex tasks through collaborative efforts enabled by Simultaneous Localization and Mapping (SLAM). This paper presents a novel methodology using the House of Quality (HoQ) tool for designing robust and efficient Collaborative SLAM (C-SLAM) architectures for UAV swarms. By systematically translating customer requirements into technical specifications, our approach ensures alignment with user needs. We evaluate state-of-the-art C-SLAM frameworks and demonstrate the methodology with a case study across various UAV applications. The results highlight the importance of robust pose graph optimization and real-time processing. Our methodology incorporates advanced distributed optimization techniques, particularly ADMM, to enhance system robustness and scalability.