ループ閉じ込み時の相対位置情報を利用した複数ロボットの協調SLAMの開発

抄録

For robotic exploration on the Moon or the planets, robots need to collaborate with others in real-time. SLAM which allows a robot to localize itself and map the surrounding area simultaneously is one of the most crucial technologies for autonomous mobile robots. However, most SLAM algorithms were built for only a single robot, and do not provide any solution against collaborative mapping and localization problems. In this paper, we aim to fuse different maps from two robots in real-time without initial correspondences.