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Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape

2021-08-18 18:03:59
Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu, Giovanni Beltrame

Abstract

Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM. With fleets of self-driving cars on the horizon and the rise of multi-robot systems in industrial applications, we believe that Collaborative SLAM will soon become a cornerstone of future robotic applications. In this survey, we introduce the basic concepts of C-SLAM and present a thorough literature review. We also outline the major challenges and limitations of C-SLAM in terms of robustness, communication, and resource management. We conclude by exploring the area's current trends and promising research avenues.

Abstract (translated)

URL

https://arxiv.org/abs/2108.08325

PDF

https://arxiv.org/pdf/2108.08325.pdf


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