PolyMap: A 2D Polygon-Based Map Format for Multi-robot Autonomous Indoor Localization and Mapping

Autonomous exploration is an important tasks in many robotic fields such as disaster response scenarios. In time critical situations, the use of multiple robots can reduce the time to create a complete map of the environment. However among the most popular map formats in use today, none are ideal for the multi-robot autonomous indoor localization. In terms of memory usage, visualization, and usability in navigation and exploration tasks, all formats have some strengths and weaknesses.

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