Multi-robot SLAM on Client-Server Architecture

One of the most important challenges in mobile robotics is the estimation of the robot´s position while it explores the environment. The SLAM (Simultaneous Localization and Mapping) technique solves this challenge while it builds an approximate map of the environment. This paper proposes a mono-robot SLAM solution applied by a group of mobile robots in a common environment. The robots are autonomous during navigation, they estimate their localization and they report their maps to a central process in order to build a unified map of the environment. This solution is constructed using a distributed approach aiming to reduce the time required to obtain a solution, and to increase the information used. This paper also presents results obtained from simulations and tests performed in an experimental environment.