Multi-robot Simultaneous Localization and Mapping using Particle Filters

@article{Howard2006MultirobotSL,
  title={Multi-robot Simultaneous Localization and Mapping using Particle Filters},
  author={Andrew G. Howard},
  journal={I. J. Robotics Res.},
  year={2006},
  volume={25},
  pages={1243-1256}
}
This paper describes an on-line algorithm for multirobot simultaneous localization and mapping (SLAM). We take as our starting point the single-robot Rao-Blackwellized particle filter described in [1] and make two key generalizations. First, we extend the particle filter to handle multi-robot SLAM problems in which the initial pose of the robots is known (such as occurs when all robots start from the same location). Second, we introduce an approximation to solve the more general problem in… CONTINUE READING

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