Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems

Pierre-Yves Lajoie, Giovanni Beltrame
1/16/2023
cs.ROcs.CV

Official code: MISTLab/Swarm-SLAM (664 stars, MIT, last commit 2025-04-10).

Abstract

Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such as indoors, underground or underwater. In this paper, we introduce Swarm-SLAM, an open-source C-SLAM system that is designed to be scalable, flexible, decentralized, and sparse, which are all key properties in swarm robotics. Our system supports inertial, lidar, stereo, and RGB-D sensing, and it includes a novel inter-robot loop closure prioritization technique that reduces communication and accelerates convergence. We evaluated our ROS-2 implementation on five different datasets, and in a real-world experiment with three robots communicating through an ad-hoc network. Our code is publicly available: https://github.com/MISTLab/Swarm-SLAM

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Code Implementations(1)

MISTLab/Swarm-SLAMOfficial100%
MIT

Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems

66474ShellJan 11, 20231 years agoMIT
c-slamlocalizationmappingmulti-robot-slammulti-robot-systems+3 more

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Cite this paper

@article{lajoie2023swarmslam,
  title  = {Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems},
  author = {Pierre-Yves Lajoie and Giovanni Beltrame},
  year   = {2023},
  eprint = {2301.06230},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2301.06230v3}
}

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