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Multiple-Robot Simultaneous Localization and Mapping: A Review
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DOI：10.1002/rob.21620.png)
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Abstract
En 中文
Simultaneous localization and mapping (SLAM) in unknown GPS-denied environments is a major challenge for researchers in the field of mobile robotics. Many solutions for single-robot SLAM exist; however, moving to a platform of multiple robots adds many challenges to the existing problems. This paper reviews state-of-the-art multiple-robot systems, with a major focus on multiple-robot SLAM. Various issues and problems in multiple-robot SLAM are introduced, current solutions for these problems are reviewed, and their advantages and disadvantages are discussed.
Keywords:
TOPOLOGICAL SIMULTANEOUS LOCALIZATION
MULTIROBOT SIMULTANEOUS LOCALIZATION
OCCUPANCY GRID MAPS
LARGE-SCALE
PROBABILISTIC APPROACH
DATA ASSOCIATION
MOBILE ROBOTS
POSE GRAPHS
SLAM
ALGORITHM
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