DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams

Understand

To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it.

• Distributed Simultaneous Localization and Mapping (SLAM) offers a practical solution to localize the robots without relying on an external positioning system (e.g.
• GPS) and with minimal information exchange.
• Unfortunately, current distributed SLAM systems are vulnerable to perception outliers and therefore tend to use very conservative parameters for inter-robot place recognition.