Merging Occupancy Grid Maps From Multiple Robots

  title={Merging Occupancy Grid Maps From Multiple Robots},
  author={Andreas Birk and Stefano Carpin},
  journal={Proceedings of the IEEE},
Mapping can potentially be speeded up in a significant way by using multiple robots exploring different parts of the environment. But the core question of multirobot mapping is how to integrate the data of the different robots into a single global map. A significant amount of research exists in the area of multirobot mapping that deals with techniques to estimate the relative robots poses at the start or during the mapping process. With map merging, the robots in contrast individually build… CONTINUE READING
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