Multi-Robot SLAM (MRSLAM)
- MRSLAM localizes the agents and generates a map of the environment.
- MRSLAM is an extension of SLAM Toolbox package to support multi-robot systems.
- MRSLAM generates a map and estimates poses of the agents.
- A single pose-graph is constructed from each agent’s sensor measurements: odometry and 2D laser scans.
- The built map incorporates information from every agent and estimates of their poses.
- Loop closures occur when laser scans are matched between any previous scan from any agent, triggering pose-graph optimization and correcting any drift from odometry.
- MRSLAM is able to build, extend, and improve maps of complex environments very accurately and robustly.
MRSLAM has made several contributions to SLAM toolbox, the default SLAM package for ROS2
More contributions are on the way! (1, 2, 3)
| SLAM Toolbox | MRSLAM |
| Single robot builds map | Multiple robots build same map together |
| Estimates pose for single robot | Estimates poses for multiple robots simultaneously |
| Agent can only loop close where it has visited | Agent can loop close anywhere that any agent has seen |
