Review, Classification and Comparison of the Existing SLAM Methods for Groups of Robots

Abstract

Nowadays the promising line of research is an application of groups of mobile robots to various tasks. An effective SLAM algorithm is one of their main success factors. Due to the increasing popularity of the open-source robots framework, ROS, the best methods should be implemented on this platform. The development should be based on the theoretical research of the subject area. So, the paper is justified by this fact. Multi-robot SLAM methods have been classified according to their key features. Their advantages and disadvantages have been identified. The methods have also been compared according to the available experimental data. The methods most suitable for implementation have been selected.

Keywords

• SLAM
• Multi-Robot
• Particle Filter
• EKF
• Scan Matching
• Pose Graph