3. Multi-robot SLAM

This section presents the main ways of implementing SLAM in a multi-robot context. The different approaches are presented and discussed. The main advantages and disadvantages are also outlined.

3.1 Distributed SLAM and offline common mapping

This first approach consists of implementing a SLAM on each robot (each robot has its own map). The common map is built independently, i.e. after the mission. The term "multi-robot" is in fact a misnomer in the sense of SLAM, since it's more a case of single-robot multi-SLAM (figure 10 ), with cooperation taking place when the common map is generated.

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Multi-robot SLAM

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Applications

Bibliography

(1) - HUANG (J.), MILLMAN (D.) and al - Efficient, generalized indoor WiFi GraphSLAM - IEEE International Conference on Robotics and Automation (ICRA), page 1038-1043 (2011).
(2) - ZHEYUAN (L.), ZHENCHENG (H.), UCHIMURA (K.) - SLAM Estimation in Dynamic Outdoor...

Websites

STACHNISS Cyrill, FRESE Udo, GRISETTI Giorgio OpenSLAM. A website grouping and comparing software implementations of most SLAM techniques.

http://www.openslam.org

Open Source Robotics Foundation Robot Operating System (ROS). Robotics tools and libraries, including several SLAM implementations.

Patents

ERMAKOV Vladimir, WOODWARD Mark, AUGENBRAUN Joe, Localization and mapping system and method for a robotic device, Patent number US8483881B2, September 2005.

LUCIDARME Philippe and LAGRANGE Sébastien. Generation of map data. Slam-o-matic (Slam algorithm based on global search of local minima). Patent number FR1155625 and US2014142891, June 2011.