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Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map.
“Simulated Annealing”
Dimitris Bertsimas and John Tsitsiklis · 1993
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“Generalized-ICP”
A. Segal, D. Haehnel and S. Thrun · 2009
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“Fast Point Feature Histograms (FPFH) for 3D registration”
Radu Rusu, Nico Blodow and Michael Beetz · 2009
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“Factor graphs and GTSAM: A hands-on introduction”, 2012
Frank Dellaert · 2012
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“Optimal Sensor Placement for Structural Health Monitoring Using Improved Simulated Annealing”
K Tong, N Bakhary and A Kueh · 2012
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“Active SLAM and Exploration with Particle Filters Using Kullback-Leibler Divergence”
Luca Carlone et al · 2014
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“Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age”
Cesar Cadena et al · 2016
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Federico Monti et al · 2016
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Ji Zhang, Michael Kaess and Sanjiv Singh · 2016
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“SegMatch: Segment based place recognition in 3D point clouds”
Renaud Dubé et al · 2017
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“Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging”
Joshua. Mangelson, Derrick Dominic, Ryan. Eustice and Ram Vasudevan · 2018
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Jie Zhou et al · 2019
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“LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments”
Andrea Tagliabue et al · 2020
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“DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments”
Kamak Ebadi et al · 2021
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“Neural Trees for Learning on Graphs”, 2021
Rajat Talak, Siyi Hu, Lisa Peng and Luca Carlone · 2021
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Lifeng Zhou et al · 2021
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“LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM”, 2021
Daniele Cattaneo, Matteo Vaghi and Abhinav Valada · 2021
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“OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios”
Lukas Schaupp et al · 2019
Cited alongside, same era.
“LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments”
Kamak Ebadi et al · 2020
Cited alongside, same era.
“Range-aided pose-graph-based SLAM: Applications of deployable ranging beacons for unknown environment exploration”
Nobuhiro Funabiki, Benjamin Morrell, Jeremy Nash and Ali-akbar Agha-mohammadi · 2020
Cited alongside, same era.
“Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection”
Heng Yang, Pasquale Antonante, Vasileios Tzoumas and Luca Carlone · 2020
Cited alongside, same era.
“Neural Enhanced Belief Propagation on Factor Graphs”
Victor Satorras and Max Welling · 2020
Cited alongside, same era.
URL: https://www.darpa.mil/program/darpa-subterranean-challenge
“DARPA Subterranean (SubT) Challenge”
Cited in the paper.
“NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge”
Ali Agha et al · 2021
Later among the works it cites.
“CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments”
Muhammad Ginting et al · 2021
Later among the works it cites.
“LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments”
Yun Chang et al · 2022
Closest in time.
“Fast Loop Closure Selection Method with Spatiotemporal Consistency for Multi-Robot Map Fusion”
Wei Chen, Jian Sun and Qiang Zheng · 2022
Closest in time.