Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape
Autor: | Lajoie, Pierre-Yves, Ramtoula, Benjamin, Wu, Fang, Beltrame, Giovanni |
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Rok vydání: | 2021 |
Předmět: | |
Zdroj: | Field Robotics 2022 |
Druh dokumentu: | Working Paper |
DOI: | 10.55417/fr.2022032 |
Popis: | 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. Comment: 44 pages, 3 figures |
Databáze: | arXiv |
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