Integrated Map Building in Multi-robot System using GIS and SLAM

Abstract

We propose a framework to build an integrated map using spatial information acquired by multiple mobile robots. In order to gather information from multiple robots effectively and to handle multiple coordinate reference systems dynamically, we adopt a common communication protocol, called MISP. And, we adopt a graph based SLAM method to optimize an integrated map. The proposed framework is tested with real rescue robots, in which our system shows effective integration of information acquired by multiple robots.