Map Merging for Multi-Robotic Applications

Abstract

With the development of robotics, multi-robot applications are increasingly coming to the foreground, where groups of robots, generally vehicles, are used to perform different tasks. There is also a growing need to integrate UAVs into existing transportation systems. One of the fundamental problems to be addressed is the mapping of a given environment by individual robots and their sharing with each other. The most efficient way of sharing is to combine these local maps into one global one. For this purpose, the paper deals with the problem of merging metric maps and a custom system for their merging is proposed. The proposed system has been verified on simulation experiments and their results have been summarized.