Map Merging for an Autonomous Multi-robotic System

Map-merging technique is a well-studied and challenging domain in the field of autonomous mobile robotics. It is not always possible to create a map only using a single robot. Thus, the most common practice is to collect maps of individual robots of the region it has been able to reveal, also known as sub-maps and merge all of them to create a single map. In this paper, we propose an algorithm for merging sub-maps acquired from different autonomous mobile robots. We also show that the merging of the maps is dependent on the degrees of freedom of the robots.

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