Simultaneous localization and mapping in distributed multi-robot systems

Keywords: multi-robot systems, simultaneous localisation and mapping, data-association, sensor fusion

The objective of the research is to implement and improve on simultaneous localisation and mapping methods in a heterogeneous multi-robot system. Key research themes are dynamic environment, fusing information from different sensor modalities, cooperative localisation and mapping between heterogeneous robots and robust data-association. These features are important in successful deployment of an autonomous multi-robot system in a partially unknown and dynamic environment. The methods will be tested on real multi-robot systems, some of which are currently under development