Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach

@article{Leung2012DecentralizedCS,
  title={Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach},
  author={Keith Yu Kit Leung and Tim D. Barfoot and Hugh H. T. Liu},
  journal={Journal of Intelligent and Robotic Systems},
  year={2012},
  volume={66},
  pages={321-342}
}
Communication between robots is key to performance in cooperative multi-robot systems. In practice, communication connections for information exchange between all robots are not always guaranteed, which adds difficulty in performing state estimation. This paper examines the decentralized cooperative simultaneous localization and mapping (SLAM) problem, in which each robot is required to estimate the map and all robot states under a sparsely-communicating and dynamic network. We show how the… CONTINUE READING
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