Multi-Robot Object SLAM Using Distributed Variational Inference

• Published in: IEEE robotics and automation letters Vol. 9; no. 10; pp. 8722 - 8729
• Main Authors: Cao, Hanwen, Shreedharan, Sriram, Atanasov, Nikolay
• Format: Journal Article
• Language: English
• Published: IEEE 01.10.2024
• Subjects: Distributed robot systems; Kalman filters; Mirrors; multi-robot SLAM; Multi-robot systems; Optimization; probability and statistical methods; Robot kinematics; Simultaneous localization and mapping; Static analysis; Trajectory

Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable because it creates a single point of failure and requires pr...