Abstract
In recent years, multi-robot systems (MRS) have received attention from researchers in academia, government laboratories and industry. This research activity has borne fruit in tackling some of the challenging problems that are still open. One is multi-robot simultaneous localization and mapping (MR-SLAM). This paper provides an overview of the latest trends in tackling the problem of (MR-SLAM) focusing on Robot Operating System (ROS) enabled package designed to solve this problem through enabling the robots to share their maps and merge them over a WiFi network. This package had some out-of-date dependencies and worked with some packages that no longer exist. The package has been modified to handle these dependencies. The C-SLAM package was then tested with 2 robots using Gmapping and Hector SLAM packages. Quantitative metrics were used to evaluate the accuracy of the generated maps by comparing it to the ground truth map, including Map Score and Occupied/Free cells ratio.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
