Multiple-Robot Simultaneous Localization and Mapping: A Review

被引：208
|
作者：
Saeedi, Sajad [1 ,4 ]
Trentini, Michael [2 ]
Seto, Mae [3 ]
Li, Howard [1 ]
机构：
[1] Univ New Brunswick, Fredericton, NB, Canada
[2] Def Res & Dev Canada, Suffield, AB, Canada
[3] Def Res & Dev Canada, Halifax, NS, Canada
[4] Univ New Brunswick, COBRA Grp, Fredericton, NB, Canada
来源：
JOURNAL OF FIELD ROBOTICS | 2016年 / 33卷 / 01期
基金：
加拿大创新基金会; 加拿大自然科学与工程研究理事会;
关键词：
TOPOLOGICAL SIMULTANEOUS LOCALIZATION; MULTIROBOT SIMULTANEOUS LOCALIZATION; OCCUPANCY GRID MAPS; LARGE-SCALE; PROBABILISTIC APPROACH; DATA ASSOCIATION; MOBILE ROBOTS; POSE GRAPHS; SLAM; ALGORITHM;
D O I：
10.1002/rob.21620
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：3 / 46
页数：44
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