Abstract
Multi-robot SLAM aims at localizing and building a map with multiple robots, interacting with each other. In the work described in this article, we analyze the pipeline of a decentralized LiDAR SLAM system to study the current limitations of the state of the art, and we discover a significant source of failures, i.e., that the loop detection is the source of too many false positives. We therefore develop and propose a new heuristic to overcome these limitations. The environment taken as reference in this work is the highly challenging case of underground tunnels. We also highlight potential new research areas still under-explored.
Abstract (translated)
多机器人SLAM（Simultaneous Localization and Mapping）旨在通过多个机器人协同工作来定位和构建地图。在本文描述的工作中，我们分析了分散式激光雷达SLAM系统的流程，以研究当前技术的局限性，并发现了一个重要的失败来源：即回环检测产生过多误报。因此，我们开发并提出了一种新方法来克服这些限制。本工作的参考环境是极具挑战性的地下隧道场景。此外，我们还指出了仍待探索的新研究领域。
URL
https://arxiv.org/abs/2507.21553
