Multi-Robot Marginal-SLAM

  title={Multi-Robot Marginal-SLAM},
  author={Ruben Martinez-Cantin},
This paper has two goals. First, it expands the presentation of the marginal particle filter for SLAM proposed recently in [Martinez-Cantinet al., 2006]. In particular, it presents detailed pseudo-code to enable practitioners to implement the algorithm easily. Second, it proposes an extension to the multirobot setting. In the marginal representation, the robots share a common map and their locations are independent given this map. The robot’s relative locations with respect to each other are… CONTINUE READING
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