Multi-robot Localization and Mapping Based on Signed Distance Functions

Abstract

This publication describes a 2D Simultaneous Localization and Mapping approach applicable to multiple mobile robots. The presented strategy uses data of 2D LIDAR sensors to build a dynamic representation based on Signed Distance Functions. A multi-threaded software architecture performs registration and data integration in parallel allowing for drift-reduced pose estimation of multiple robots. Experiments are provided demonstrating the application with single and multiple robot mapping using simulated data, public accessible recorded data as well as two actual robots operating in a comparably large area.