Fully Distributed Multi-Robot Simultaneous Localization and Mapping

Multi-robot SLAM systems are necessary to coordinate teams of robots by producing consistent, reliable maps of the environment. One challenge in a multirobot system not present in single robot SLAM is finding globally consistent labels for landmarks observed by separate robots when the starting reference frames of the robots are not known. We present a novel, RANSAC-based, approach for performing the between-robot data associations and initialization of relative frames of reference, obtaining an end-to-end multi-robot SLAM system, when combined with our previous DDF-SAM approach, for which have only shown simulated result until now.