Multi-Robot Cooperative Simultaneous Localization and Mapping Algorithm Based on Sub-Graph Partitioning

Multi-Robot Cooperative Simultaneous Localization and Mapping Algorithm Based on Sub-Graph Partitioning

To address the challenges in multi-robot collaborative SLAM, including excessive redundant computations and low processing efficiency in candidate loop closure selection during front-end loop detection, as well as high computational complexity and long iteration times due to global pose optimization...

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Bibliographic Details
Main Authors: Wan Xu, Yanliang Chen, Shijie Liu, Ao Nie, Rupeng Chen
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Sensors
Subjects:
multi-robot systems
multi-sensor fusion
distributed optimization
loop closure detection
collaborative SLAM
Online Access:https://www.mdpi.com/1424-8220/25/9/2953
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