Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems

See our paper here!

Swarm-SLAM is an open-source C-SLAM system that is designed to be scalable, flexible, decentralized, and sparse, which are all key properties in swarm robotics. Our system supports lidar, stereo, and RGB-D sensing, and it includes a novel inter-robot loop closure prioritization technique that reduces inter-robot communication and accelerates the convergence.

Look up the main repo and our start-up instructions here!

How to cite this work:

@ARTICLE{lajoieSwarmSLAM,
  author={Lajoie, Pierre-Yves and Beltrame, Giovanni},
  journal={IEEE Robotics and Automation Letters}, 
  title={Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems}, 
  year={2024},
  volume={9},
  number={1},
  pages={475-482},
  doi={10.1109/LRA.2023.3333742}
}