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arXiv · 2108.08325

Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape

Pierre-Yves Lajoie·Benjamin Ramtoula·Fang Wu·Giovanni Beltrame
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Abstract

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. With fleets of self-driving cars on the horizon and the rise of multi-robot systems in industrial applications, we believe that Collaborative SLAM will soon become a cornerstone of future robotic applications. In this survey, we introduce the basic concepts of C-SLAM and present a thorough literature review. We also outline the major challenges and limitations of C-SLAM in terms of robustness, communication, and resource management. We conclude by exploring the area's current trends and promising research avenues.

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Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu, Giovanni Beltrame. 2021-08-18. Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape. https://doi.org/10.55417/fr.2022032

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