Multi-robot SLAM on Client-Server Architecture

摘要

One of the most important challenges in mobile robotics is the estimation of the robot's position while it explores the environment. The SLAM (Simultaneous Localization and Mapping) technique solves this challenge while it builds an approximate map of the environment. This paper proposes a mono-robot SLAM solution applied by a group of mobile robots in a common environment. The robots are autonomous during navigation, they estimate their localization and they report their maps to a central process in order to build a unified map of the environment. This solution is constructed using a distributed approach aiming to reduce the time required to obtain a solution, and to increase the information used. This paper also presents results obtained from simulations and tests performed in an experimental environment.