M. Walter and J. Leonard. An Experimental Investigation of Cooperative SLAM. In Proceedings of the Fifth IFAC Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, July 2004.
Abstract This paper considers the problem of cooperative navigation and mapping by a heterogeneous team of multiple autonomous underwater vehicles (AUVs). We address a form of cooperative Simultaneous Localization and Mapping (SLAM) in which only one vehicle is responsible for maintaining estimates of the map and poses for each robot. By combining inter-vehicle measurements with observations of the environment made by each vehicle, the result is a better knowledge of the poses of each robot in the group. We present results of an experiment in which three land robots perform cooperative SLAM in a large, ambiguous environment. Comparisons with ground truth are provided.
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@inproceedings{walter04,
  AUTHOR = {M. Walter, and J. Leonard},
  TITLE = {An Experimental Investigation of Cooperative {SLAM}},
  YEAR = {2004},
  BOOKTITLE = {Proceedings of the Fifth {IFAC} Symposium on 
  Intelligent Autonomous Vehicles},
  YEAR = {2004},
  MONTH = {July},
  ADDRESS = {Lisbon, Portugal}
}

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