A Fast Algorithm for Multi-Robot SLAM
Multi-robot SLAM has become a research hotspot in robot simultaneous localization and mapping (SLAM) in recent years. In this paper, we propose multi-robot exactly sparse extended information filters algorithm (MRESEIF) to solve Multi-robot SLAM problem. MRESEIF algorithm sets the threshold to divide the features which are observed by robots into two parts. One part of features are used on observation update, while the other one are used on robots relocalization. The simulation data shows that MRESEIF algorithm can solve multi-robot SLAM problem effectively, the oberservation update time and motion update time are kept in constant range, and the accuracy of robot poses is perfect.
X. L. Xu et al., "A Fast Algorithm for Multi-Robot SLAM", Advanced Materials Research, Vols. 562-564, pp. 941-944, 2012