A Survey on Multi-robot Particle Filter SLAM

摘要

Simultaneous Localization and Mapping (SLAM) can be successfully used for GPS-denied environments. Single-robot SLAM is a mostly-solved topic, hence researchers are focusing on multi-robot SLAM to increase the efficiency of environment exploration. Multi-robot SLAM has many advantages but there are also various issues in its implementation. This paper explores most of the known problems of multi-robot SLAM. Many techniques on multi-robot SLAM have been published; one of the most frequently used techniques is the particle filter. This paper provides an overview of the current solutions of the particle filter, multi-robot SLAM algorithms along with their advantages and disadvantages.