Multi-robot cooperative map building in unknown environment considering estimation uncertainty

Abstract

This paper focuses on the multi-robot cooperative simultaneous localization and map building (SLAM) problem and proposes an approach to compute the destination points for the robots which explore in the environment. This approach considers the efficiency and the accuracy of global map building. The approach makes the robots finish the exploration and build the map with high quality. Extended Kalman Filter (EKF) algorithm is applied to estimate the locations of the robots and the positions of the landmarks. The simulation results show the effectiveness of the proposed approach.