Journal
JOURNAL OF FIELD ROBOTICS
Volume 33, Issue 1, Pages 3-46Publisher
WILEY
DOI: 10.1002/rob.21620
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Funding
- Natural Sciences and Engineering Research Council of Canada (NSERC)
- Canada Foundation for Innovation (CFI)
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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.
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