Multi robot SLAM for features based environment modelling

This paper is presenting a multi robot simultaneous localization and mapping (SLAM) framework for environment modelling using 2D and 3D features. The proposed solution is using a team of mobile robots which are exploring unknown environment with unknown poses. Each team member is allowed to build its independent features based SLAM solution and to share the local map model among other mates. By matching the overlapping tendency of any two mates, a map merging strategy is introduced which in result is building global map. The overall approach has tested in 2D and 3D features based environment and results have shown.