Scalable Algorithms for Simultaneous Mapping and Localization of Mobile Robot Swarms

Abstract

The chapter is devoted to the development of scalable algorithms for multi-agent solution of the SLAM problem. These algorithms are applicable to robots with limited computational resources, having limited computational power and memory, small spatial size, and power from a portable battery. To simplify the description, only robots equipped with LIDAR are considered. The main focus is as follows: a scalable multi-agent SLAM algorithm based on Dempster-Shafer theory; an algorithm for filtering two-dimensional laser scans to free up computational resources; evaluation of the accuracy of the map and trajectory constructed by the multi-agent algorithm; performance evaluation on resource-limited computing devices.