A real-time map merging strategy for robust collaborative reconstruction of unknown environments

作者：

Highlights：

• The time efficiency to get a global map is highly related to the number of agents.

• The collaborative reconstruction error has no effect on the merged global map.

• The occupancy grid map merging algorithm merges maps consistently in real time.

• The reconstruction error has no correlation with the number of agents.

摘要

•The time efficiency to get a global map is highly related to the number of agents.•The collaborative reconstruction error has no effect on the merged global map.•The occupancy grid map merging algorithm merges maps consistently in real time.•The reconstruction error has no correlation with the number of agents.

论文关键词：Map merging,MRSLAM,Feature extraction,Decision-making,Collaborative reconstruction

论文评审过程：Received 5 February 2019, Revised 19 October 2019, Accepted 28 November 2019, Available online 29 November 2019, Version of Record 11 December 2019.

论文官网地址：https://doi.org/10.1016/j.eswa.2019.113109