Ability for Single Mapper to Map with Multiple Bots "and" Simplified Stitching Merged

On behalf of Erons Ohiemer for DHL AOS

Site Description: DHL-ASOS picking area consists of 4 floors. Each floor is roughly 350k sq. ft. To put the size in perspective, StitchFix Dallas is 250k sq ft as measured in Tycho. There are 6 sets of stairs in the interior and exterior perimeter of each floor. No interior staircases currently have a gate. Standard racking is used to create narrow aisles. Two-way bot traffic within aisles is not possible due to the narrow aisle width. There are 7 rows of aisles, and most rows contain 90 aisles. Conveyor belts span every other row of aisles and are used to transport totes across the warehouse. All floors carried ASOS clothing apparel.

Problem: Significant time and resources required to map the Locus area and to stitch mapping results when multiple mappers used

Proposal: A single mapper could map while controlling multiple robots simultaneously and only intervene when necessary. In my own expert opinion, we desperately need this ability. At the very least, we need a more accessible mapping tool than RViz. A better mapping tool would allow us to leverage more robots for mapping and would allow us to better scale.