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Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM.
Probabilistic cooperative localization and mapping in practice
Rekleitis, I., Dudek, G., and Milios, E. (2003) · 1912
Earlier work this paper cites.
Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography
Fischler, M. A. and Bolles, R. C. (1981) · 1981
Earlier work this paper cites.
Parallel and Distributed Computation
Bertsekas, D. and Tsitsiklis, J. (1989) · 1989
Earlier work this paper cites.
A method for registration of 3-D shapes
Besl, P. J. and McKay, N. D. (1992) · 1992
Earlier work this paper cites.
A taxonomy for swarm robots
Dudek, G., Jenkin, M., Milios, E., and Wilkes, D. (1993) · 1993
Earlier work this paper cites.
Cooperative positioning with multiple robots
Kurazume, R., Nagata, S., and Hirose, S. (1994) · 1994
Earlier work this paper cites.
Cooperative robot localization with vision-based mapping
Jennings, C., Murray, D., and Little, J. J. (1999) · 1999
Earlier work this paper cites.
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks
Doucet, A., de Freitas, N., Murphy, K. P., and Russell, S. J. (2000) · 2000
Earlier work this paper cites.
A Probabilistic Approach to Collaborative Multi-Robot Localization
Fox, D., Burgard, W., Kruppa, H., and Thrun, S. (2000) · 2000
Earlier work this paper cites.
Coordination for Multi-Robot Exploration and Mapping
Simmons, R. G., Apfelbaum, D., Burgard, W., Fox, D., Moors, M., Thrun, S., and Younes, H. L. S. (2000) · 2000
Earlier work this paper cites.
A Probabilistic On-Line Mapping Algorithm for Teams of Mobile Robots
Thrun, S. (2001) · 2001
Earlier work this paper cites.
Cooperative concurrent mapping and localization
Fenwick, J. W., Newman, P. M., and Leonard, J. J. (2002) · 2002
Earlier work this paper cites.
Towards multi-vehicle simultaneous localisation and mapping
Williams, S. B., Dissanayake, G., and Durrant-Whyte, H. (2002) · 2002
Earlier work this paper cites.
Ebadi, K., Chang, Y., Palieri, M., Stephens, A., Hatteland, A., Heiden, E., Thakur, A., Funabiki, N., Morrell, B., Wood, S., Carlone, L., and Agha-mohammadi, A.-a. (2020) · 2003
Earlier work this paper cites.
Multiple View Geometry in Computer Vision
Hartley, R. and Zisserman, A. (2003) · 2003
Earlier work this paper cites.
From swarm intelligence to swarm robotics
Beni, G. (2004) · 2004
Earlier work this paper cites.
Distributed Cooperative Outdoor Multirobot Localization and Mapping
Madhavan, R., Fregene, K., and Parker, L. E. (2004) · 2004
Earlier work this paper cites.
Analysis of positioning uncertainty in reconfigurable networks of heterogeneous mobile robots
Mourikis, A. and Roumeliotis, S. (2004) · 2004
Earlier work this paper cites.
Optimized motion strategies for cooperative localization of mobile robots
Trawny, N. and Barfoot, T. (2004) · 2004
Earlier work this paper cites.
Probabilistic Robotic — The MIT Press
Thrun, S., Burgard, W., and Fox, D. (2005) · 2005
Earlier work this paper cites.
Multi-robot SLAM with Sparse Extended Information Filers
Thrun, S. and Liu, Y. (2005) · 2005
Earlier work this paper cites.
Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
Dellaert, F. and Kaess, M. (2006) · 2006
Earlier work this paper cites.
Multi-robot Simultaneous Localization and Mapping using Particle Filters
Howard, A. (2006) · 2006
Earlier work this paper cites.
Predicting the Performance of Cooperative Simultaneous Localization and Mapping (C-SLAM)
Mourikis, A. I. and Roumeliotis, S. I. (2006) · 2006
Earlier work this paper cites.
Decentralised SLAM with Low-Bandwidth Communication for Teams of Vehicles
Nettleton, E., Thrun, S., Durrant-Whyte, H., and Sukkarieh, S. (2006) · 2006
Earlier work this paper cites.
Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case
Zhou, X. S. and Roumeliotis, S. I. (2006) · 2006
Earlier work this paper cites.
Co-operative Localisation and Mapping for Multiple UAVs in Unknown Environments
Bryson, M. and Sukkarieh, S. (2007) · 2007
Earlier work this paper cites.
Multi-robot SLAM with topological/metric maps
H. Jacky Chang, C. S. George Lee, Y. Charlie Hu, and Yung-Hsiang Lu (2007) · 2007
Earlier work this paper cites.
A Scalable Hybrid Multi-robot SLAM Method for Highly Detailed Maps
Pfingsthorn, M., Slamet, B., and Visser, A. (2008) · 2007
Earlier work this paper cites.
C-SAM: Multi-Robot SLAM using square root information smoothing
Andersson, L. A. A. and Nygards, J. (2008) · 2008
Earlier work this paper cites.
Architectures for Cooperative Airborne Simultaneous Localisation and Mapping
Bryson, M. and Sukkarieh, S. (2009) · 2009
Earlier work this paper cites.
Multi-robot SLAM using ceiling vision
Lee, H. S. and Lee, K. M. (2009) · 2009
Earlier work this paper cites.
Distributed maximum a posteriori estimation for multi-robot cooperative localization
Nerurkar, E. D., Roumeliotis, S. I., and Martinelli, A. (2009) · 2009
Earlier work this paper cites.
Real-time correlative scan matching
Olson, E. B. (2009) · 2009
Earlier work this paper cites.
Distributed image-based 3-D localization of camera sensor networks
Tron, R. and Vidal, R. (2009) · 2009
Earlier work this paper cites.
Cooperative Multi-Robot Monocular-SLAM Using Salient Landmarks
Wu, M., Huang, F., Wang, L., and Sun, J. (2009) · 2009
Earlier work this paper cites.
Consistent data association in multi-robot systems with limited communications
Aragüés, R., Montijano, E., and Sagüés, C. (2010) · 2010
Earlier work this paper cites.
Multi-robot SLAM using M-Space feature representation
Benedettelli, D., Garulli, A., and Giannitrapani, A. (2010) · 2010
Earlier work this paper cites.
GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization
Cristofalo, E., Montijano, E., and Schwager, M. (2020) · 2010
Earlier work this paper cites.
DDF-SAM: Fully distributed SLAM using Constrained Factor Graphs
Cunningham, A., Paluri, M., and Dellaert, F. (2010) · 2010
Earlier work this paper cites.
On agreement problems with gossip algorithms in absence of common reference frames
Franceschelli, M. and Gasparri, A. (2010) · 2010
Earlier work this paper cites.
Multi-robot visual SLAM using a Rao-Blackwellized particle filter
Gil, A., Reinoso, Ó., Ballesta, M., and Juliá, M. (2010) · 2010
Earlier work this paper cites.
Multiple relative pose graphs for robust cooperative mapping
Kim, B., Kaess, M., Fletcher, L., Leonard, J., Bachrach, A., Roy, N., and Teller, S. (2010) · 2010
Earlier work this paper cites.
Just-in-time cooperative simultaneous localization and mapping
Martin, A. and Emami, M. R. (2010) · 2010
Earlier work this paper cites.
Multi-agent localization from noisy relative pose measurements
Aragues, R., Carlone, L., Calafiore, G., and Sagues, C. (2011) · 2011
Earlier work this paper cites.
Decentralised cooperative localisation for heterogeneous teams of mobile robots
Bailey, T., Bryson, M., Mu, H., Vial, J., McCalman, L., and Durrant-Whyte, H. (2011) · 2011
Earlier work this paper cites.
Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems
Carlone, L., Kaouk Ng, M., Du, J., Bona, B., and Indri, M. (2011) · 2011
Earlier work this paper cites.
iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering
Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J., and Dellaert, F. (2011) · 2011
Earlier work this paper cites.
G2o: A general framework for graph optimization
Kümmerle, R., Grisetti, G., Strasdat, H., Konolige, K., and Burgard, W. (2011) · 2011
Earlier work this paper cites.
Distributed and decentralized cooperative simultaneous localization and mapping for dynamic and sparse robot networks
Leung, K. Y. K., Barfoot, T. D., and Liu, H. H. T. (2011b) · 2011
Earlier work this paper cites.
Multiple robot simultaneous localization and mapping
Saeedi, S., Paull, L., Trentini, M., and Li, H. (2011a) · 2011
Earlier work this paper cites.
Distributed Consensus on Robot Networks for Dynamically Merging Feature-Based Maps
Aragues, R., Cortes, J., and Sagues, C. (2012) · 2012
Earlier work this paper cites.
Fully distributed scalable smoothing and mapping with robust multi-robot data association
Cunningham, A., Wurm, K. M., Burgard, W., and Dellaert, F. (2012) · 2012
Earlier work this paper cites.
Map merging of Multi-Robot SLAM using Reinforcement Learning
Dinnissen, P., Givigi, S. N., and Schwartz, H. M. (2012) · 2012
Earlier work this paper cites.
Bags of Binary Words for Fast Place Recognition in Image Sequences
Galvez-López, D. and Tardos, J. D. (2012) · 2012
Earlier work this paper cites.
Are we ready for autonomous driving? The KITTI vision benchmark suite
Geiger, A., Lenz, P., and Urtasun, R. (2012) · 2012
Earlier work this paper cites.
Graph-based distributed cooperative navigation for a general multi-robot measurement model
Indelman, V., Gurfil, P., Rivlin, E., and Rotstein, H. (2012) · 2012
Earlier work this paper cites.
Collaborative 3D localization of robots from relative pose measurements using gradient descent on manifolds
Knuth, J. and Barooah, P. (2012) · 2012
Earlier work this paper cites.
ImageNet Classification with Deep Convolutional Neural Networks
Krizhevsky, A., Sutskever, I., and Hinton, G. E. (2012) · 2012
Earlier work this paper cites.
A survey of map merging techniques for cooperative-SLAM
Lee, H., Seung-Hwan Lee, Tae-Seok Lee, Doo-Jin Kim, and Lee, B. (2012) · 2012
Earlier work this paper cites.
Cooperative Localization and Mapping in Sparsely-Communicating Robot Networks
Leung, K. Y. K. (2012) · 2012
Earlier work this paper cites.
Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach
Leung, K. Y. K., Barfoot, T. D., and Liu, H. H. T. (2012) · 2012
Earlier work this paper cites.
Visual SLAM: Why filter?
Strasdat, H., Montiel, J. M. M., and Davison, A. (2012) · 2012
Earlier work this paper cites.
Switchable constraints for robust pose graph SLAM
Sünderhauf, N. and Protzel, P. (2012) · 2012
Earlier work this paper cites.
Robust map optimization using dynamic covariance scaling
Agarwal, P., Tipaldi, G. D., Spinello, L., Stachniss, C., and Burgard, W. (2013) · 2013
Earlier work this paper cites.
Swarm robotics: a review from the swarm engineering perspective
Brambilla, M., Ferrante, E., Birattari, M., and Dorigo, M. (2013) · 2013
Earlier work this paper cites.
Consistent multi-robot decentralized SLAM with unknown initial positions
Bresson, G., Aufrère, R., and Chapuis, R. (2013) · 2013
Earlier work this paper cites.
DDF-SAM 2.0: Consistent distributed smoothing and mapping
Cunningham, A., Indelman, V., and Dellaert, F. (2013) · 2013
Earlier work this paper cites.
Collaborative monocular SLAM with multiple Micro Aerial Vehicles
Forster, C., Lynen, S., Kneip, L., and Scaramuzza, D. (2013) · 2013
Cited alongside, same era.
Collaborative localization with heterogeneous inter-robot measurements by Riemannian optimization
Knuth, J. and Barooah, P. (2013) · 2013
Cited alongside, same era.
Multi-robot active SLAM with relative entropy optimization
Kontitsis, M., Theodorou, E. A., and Todorov, E. (2013) · 2013
Cited alongside, same era.
Robust loop closing over time for pose graph SLAM
Latif, Y., Cadena, C., and Neira, J. (2013) · 2013
Cited alongside, same era.
Multi-robot SLAM using condensed measurements
Lázaro, M. T., Paz, L. M., Piniés, P., Castellanos, J. A., and Grisetti, G. (2013) · 2013
Cited alongside, same era.
Distributed Data Association in Robotic Networks With Cameras and Limited Communications
Montijano, E., Aragues, R., and Sagüés, C. (2013) · 2013
A Survey of Implementation of Multi-Robot Simultaneous Localization and Mapping
Kshirsagar, J., Shue, S., and Conrad, J. M. (2018) · 2018
Later among the works it cites.
CORB-SLAM: A Collaborative Visual SLAM System for Multiple Robots
Li, F., Yang, S., Yi, X., and Yang, X. (2018) · 2018
Later among the works it cites.
Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging
Mangelson, J. G., Dominic, D., Eustice, R. M., and Vasudevan, R. (2018) · 2018
Later among the works it cites.
Information fusion strategies for collaborative radio SLAM
Morales, J. and Kassas, Z. M. (2018) · 2018
Later among the works it cites.
Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments
Trujillo, J.-C., Munguia, R., Guerra, E., and Grau, A. (2018) · 2018
Later among the works it cites.
Pointnetvlad: Deep point cloud based retrieval for large-scale place recognition
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Cited alongside, same era.
Collaborative Multi-vehicle SLAM with moving object tracking
Moratuwage, D., Vo, B., and Wang, D. (2013) · 2013
Cited alongside, same era.
Mapping, localization and motion planning in mobile multi-robotic systems
Rone, W. and Ben-Tzvi, P. (2013) · 2013
Cited alongside, same era.
SLAM++: Simultaneous Localisation and Mapping at the Level of Objects
Salas-Moreno, R. F., Newcombe, R. A., Strasdat, H., Kelly, P. H., and Davison, A. J. (2013) · 2013
Cited alongside, same era.
CoSLAM: Collaborative Visual SLAM in Dynamic Environments
Zou, D. and Tan, P. (2013) · 2013
Cited alongside, same era.
Multi-robot Mapping Using Omnidirectional-Vision SLAM Based on Fisheye Images
Choi, Y.-W., Kwon, K.-K., Lee, S.-I., Choi, J.-W., and Lee, S.-G. (2014) · 2014
Cited alongside, same era.
Multi-robot pose graph localization and data association from unknown initial relative poses via expectation maximization
Indelman, V., Nelson, E., Michael, N., and Dellaert, F. (2014) · 2014
Cited alongside, same era.
Uy, M. A. and Lee, G. H. (2018) · 2018
Later among the works it cites.
Cloud-Based Framework for Scalable and Real-Time Multi-Robot SLAM
Zhang, P., Wang, H., Ding, B., and Shang, S. (2018b) · 2018
Later among the works it cites.
Decentralized Cooperative Localization with Relative Pose Estimation for a Spacecraft Swarm
Bezouska, W. and Barnhart, D. (2019) · 2019
Later among the works it cites.
3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM
Boroson, E. R. and Ayanian, N. (2019) · 2019
Later among the works it cites.
SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding
Bujanca, M., Gafton, P., Saeedi, S., Nisbet, A., Bodin, B., O’Boyle, M. F. P., Davison, A. J., Kelly, P. H. J., Riley, G., Lennox, B., Luján, M., and Furber, S. (2019) · 2019
Later among the works it cites.
Consensus-based Distributed 3D Pose Estimation with Noisy Relative Measurements
Cristofalo, E., Montijano, E., and Schwager, M. (2019) · 2019
Later among the works it cites.
On Data Sharing Strategy for Decentralized Collaborative Visual-Inertial Simultaneous Localization And Mapping
Dubois, R., Eudes, A., and Frémont, V. (2019) · 2019
Later among the works it cites.
Efficient Constellation-Based Map-Merging for Semantic SLAM
Frey, K. M., Steiner, T. J., and How, J. P. (2019) · 2019
Later among the works it cites.
A Survey on Multi-robot Particle Filter SLAM
Gupta, R. U. and Conrad, J. M. (2019) · 2019
Later among the works it cites.
Modeling Perceptual Aliasing in SLAM via Discrete–Continuous Graphical Models
Lajoie, P.-Y., Hu, S., Beltrame, G., and Carlone, L. (2019) · 2019
Later among the works it cites.
A Survey on Odometry for Autonomous Navigation Systems
Mohamed, S. A. S., Haghbayan, M., Westerlund, T., Heikkonen, J., Tenhunen, H., and Plosila, J. (2019) · 2019
Later among the works it cites.
Collaborative Visual SLAM Using Compressed Feature Exchange
Opdenbosch, D. V. and Steinbach, E. (2019) · 2019
Later among the works it cites.
SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group
Rosen, D. M., Carlone, L., Bandeira, A. S., and Leonard, J. J. (2019) · 2019
Later among the works it cites.
Decentralized Visual-Inertial Localization and Mapping on Mobile Devices for Augmented Reality
Sartipi, K., DuToit, R. C., Cobar, C. B., and Roumeliotis, S. I. (2019) · 2019
Later among the works it cites.
CCM-SLAM: Robust and efficient centralized collaborative monocular simultaneous localization and mapping for robotic teams
Schmuck, P. and Chli, M. (2019) · 2019
Later among the works it cites.
Simultaneous Collaborative Mapping Based on Low-Bandwidth Communication
Schulz, C., Hanten, R., Reisenauer, M., and Zell, A. (2019) · 2019
Later among the works it cites.
Distributed stereo vision-based 6D localization and mapping for multi-robot teams
Schuster, M. J., Schmid, K., Brand, C., and Beetz, M. (2019) · 2019
Later among the works it cites.
Collaborative Human Augmented SLAM
Sidaoui, A., Elhajj, I. H., and Asmar, D. (2019) · 2019
Later among the works it cites.
Active Rendezvous for Multi-Robot Pose Graph Optimization using Sensing over Wi-Fi
Wang, W., Jadhav, N., Vohs, P., Hughes, N., Mazumder, M., and Gil, S. (2019) · 2019
Later among the works it cites.
Collaborative visual SLAM for multiple agents: A brief survey
Zou, D., Tan, P., and Yu, W. (2019) · 2019
Later among the works it cites.
Decentralised Self-Organising Maps for Multi-Robot Information Gathering
Best, G. and Hollinger, G. (2020) · 2020
Later among the works it cites.
Towards Multi-Robot Visual Graph-SLAM for Autonomous Marine Vehicles
Bonin-Font, F. and Burguera, A. (2020) · 2020
Later among the works it cites.
Inter-Robot Range Measurements in Pose Graph Optimization
Boroson, E., Hewitt, R., and Ayanian, N. (2020) · 2020
Later among the works it cites.
An introduction to optimization on smooth manifolds
Boumal, N. (2020) · 2020
Later among the works it cites.
Broadcast Your Weaknesses: Cooperative Active Pose-Graph SLAM for Multiple Robots
Chen, Y., Zhao, L., Lee, K. M. B., Yoo, C., Huang, S., and Fitch, R. (2020) · 2020
Later among the works it cites.
DARPA Subterranean Challenge
DARPA (2020) · 2020
Later among the works it cites.
Robust Loop Closure Method for Multi-Robot Map Fusion by Integration of Consistency and Data Similarity
Do, H., Hong, S., and Kim, J. (2020) · 2020
Later among the works it cites.
AirMuseum: A heterogeneous multi-robot dataset for stereo-visual and inertial Simultaneous Localization And Mapping
Dubois, R., Eudes, A., and Frémont, V. (2020a) · 2020
Later among the works it cites.
Dense Decentralized Multi-Robot SLAM Based on Locally Consistent TSDF Submaps
Dubois, R., Eudes, A., Moras, J., and Fremont, V. (2020b) · 2020
Later among the works it cites.
Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees
Fan, T. and Murphey, T. (2020) · 2020
Later among the works it cites.
Random-Finite-Set-Based Distributed Multirobot SLAM
Gao, L., Battistelli, G., and Chisci, L. (2020) · 2020
Later among the works it cites.
An Approach to Reduce Communication for Multi-Agent Mapping Applications
Kepler, M. and Stilwell, D. (2020) · 2020
Later among the works it cites.
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Lajoie, P.-Y., Ramtoula, B., Chang, Y., Carlone, L., and Beltrame, G. (2020) · 2020
Later among the works it cites.
An Efficient Rescue System with Online Multi-Agent SLAM Framework
Lee, S., Kim, H., and Lee, B. (2020) · 2020
Later among the works it cites.
Collaborative SLAM Based on WiFi Fingerprint Similarity and Motion Information
Liu, R., Marakkalage, S. H., Padmal, M., Shaganan, T., Yuen, C., Guan, Y. L., and Tan, U. (2020) · 2020
Later among the works it cites.
Communicating Multi-UAV System for Cooperative SLAM-based Exploration
Mahdoui, N., Frémont, V., and Natalizio, E. (2020) · 2020
Later among the works it cites.
Pit30M: A Benchmark for Global Localization in the Age of Self-Driving Cars
Martinez, J., Doubov, S., Fan, J., and Bã, I. A. (2020) · 2020
Later among the works it cites.
Active collaboration in relative observation for multi-agent visual simultaneous localization and mapping based on Deep Q Network
Pei, Z., Piao, S., Quan, M., Qadir, M. Z., and Li, G. (2020) · 2020
Later among the works it cites.
Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision
Queralta, J. P., Taipalmaa, J., Pullinen, B. C., Sarker, V. K., Gia, T. N., Tenhunen, H., Gabbouj, M., Raitoharju, J., and Westerlund, T. (2020) · 2020
Later among the works it cites.
CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks
Ramtoula, B., de Azambuja, R., and Beltrame, G. (2020) · 2020
Later among the works it cites.
Test Your SLAM! The SubT-Tunnel dataset and metric for mapping
Rogers, J. G., Gregory, J. M., Fink, J., and Stump, E. (2020) · 2020
Later among the works it cites.
Distributed Consistent Multi-Robot Semantic Localization and Mapping
Tchuiev, V. and Indelman, V. (2020) · 2020
Later among the works it cites.
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Yang, H., Antonante, P., Tzoumas, V., and Carlone, L. (2020) · 2020
Later among the works it cites.
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Agha, A., Otsu, K., Morrell, B., Fan, D. D., Thakker, R., Santamaria-Navarro, A., Kim, S.-K., Bouman, A., Lei, X., Edlund, J., Ginting, M. F., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T. S., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J., Salhotra, G., Da Silva, M. S., Ramtoula, B., Kubo, Y., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H. A., Choi, C., Daftry, S., Toupet, O., Wee, I., Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., and Burdick, J. (2021) · 2021
Closest in time.
VIR-SLAM: Visual, inertial, and ranging SLAM for single and multi-robot systems
Cao, Y. and Beltrame, G. (2021) · 2021
Closest in time.
Kimera-Multi: A System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping
Chang, Y., Tian, Y., How, J. P., and Carlone, L. (2021) · 2021
Closest in time.
Factor Graphs: Exploiting Structure in Robotics
Dellaert, F. (2021) · 2021
Closest in time.
An Investigation of Byzantine Threats in Multi-Robot Systems
Deng, G., Zhou, Y., Xu, Y., Zhang, T., and Liu, Y. (2021) · 2021
Closest in time.
DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments
Ebadi, K., Palieri, M., Wood, S., Padgett, C., and Agha-mohammadi, A.-a. (2021) · 2021
Closest in time.
5G SLAM with Low-complexity Channel Estimation
Ge, Y., Jiang, F., Zhu, M., Wen, F., Svensson, L., and Wymeersch, H. (2021) · 2021
Closest in time.
Edge Robotics: Edge-Computing-Accelerated Multi-Robot Simultaneous Localization and Mapping
Huang, P., Zeng, L., Chen, X., Luo, K., Zhou, Z., and Yu, S. (2021) · 2021
Closest in time.
Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61’s Approach to the DARPA Subterranean Challenge
Hudson, N., Talbot, F., Cox, M., Williams, J., Hines, T., Pitt, A., Wood, B., Frousheger, D., Surdo, K. L., Molnar, T., Steindl, R., Wildie, M., Sa, I., Kottege, N., Stepanas, K., Hernandez, E., Catt, G., Docherty, W., Tidd, B., Tam, B., Murrell, S., Bessell, M., Hanson, L., Tychsen-Smith, L., Suzuki, H., Overs, L., Kendoul, F., Wagner, G., Palmer, D., Milani, P., O’Brien, M., Jiang, S., Chen, S., and Arkin, R. C. (2021) · 2021
Closest in time.
Swarm SLAM: Challenges and Perspectives
Kegeleirs, M., Grisetti, G., and Birattari, M. (2021) · 2021
Closest in time.
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems
Prorok, A., Malencia, M., Carlone, L., Sukhatme, G. S., Sadler, B. M., and Kumar, V. (2021) · 2021
Closest in time.
The DARPA SubT Urban Circuit Mapping Dataset and Evaluation Metric
Rogers, J. G., Schang, A., Nieto-Granda, C., Ware, J., Carter, J., Fink, J., and Stump, E. (2021) · 2021
Closest in time.
Advances in Inference and Representation for Simultaneous Localization and Mapping
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