Abstract: A system for generating a map of an environment, the system including a plurality of agents that acquire mapping data captured by a mapping system including a range sensor. The mapping data is indicative of a three dimensional representation of the environment and is used to generate frames representing parts of the environment. The agents receive other frame data from other agents, which is indicative of other frames representing parts of the environment generated using other mapping data captured by a mapping system of the other agents. Each agent then generates a graph representing a map of the environment by generating nodes using the frames and other frames, each node being indicative of a respective part of the environment, and calculating edges interconnecting the nodes, the edges being indicative of spatial offsets between the nodes.

Abstract: A method of performing clock synchronisation across multiple devices, the method including: in a first device: emitting timing pulses based on a first clock signal; and, outputting event data including events associated with first event times based on the first clock signal; in a second device: receiving the timing pulses; and, generating reference data including an indication of each timing pulse associated with a reference time based on a second clock signal; and, in one or more processing devices: receiving the event data; recording an approximate local event time for each event based on a time of local receipt determined using a local clock signal; using the local event times and first event times to derive a first function that relates the first clock signal and the local clock signal; using the first function and the reference data to derive a synchronisation function relating the first and second clock signals; and, using the synchronisation function to perform clock synchronisation of the first and se

Abstract: A system for generating a map of an environment, the system including a plurality of agents that acquire mapping data captured by a mapping system including a range sensor. The mapping data is indicative of a three dimensional representation of the environment and is used to generate frames representing parts of the environment. The agents receive other frame data from other agents, which is indicative of other frames representing parts of the environment generated using other mapping data captured by a mapping system of the other agents. Each agent then generates a graph representing a map of the environment by generating nodes using the frames and other frames, each node being indicative of a respective part of the environment, and calculating edges interconnecting the nodes, the edges being indicative of spatial offsets between the nodes.