Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
Swarm-SLAM is an open-source C-SLAM system 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 our Documentation and our Start-up instructions!
Packages summary:
- cslam: contains the Swarm-SLAM nodes;
- cslam_interfaces: contains the custom ROS 2 messages;
- cslam_experiments: contains examples of launch files and configurations for different setups;
- cslam_visualization: contains an online (optional) visualization tool to run on your base station to monitor the mapping progress.
Follow the start-up instructions to install, build and run Swarm-SLAM.
How to cite our paper:
@ARTICLE{lajoieSwarmSLAMSparseDecentralized2023,
title = {Swarm-{{SLAM}} : {{Sparse Decentralized Collaborative Simultaneous Localization}} and {{Mapping Framework}} for {{Multi-Robot Systems}}},
author = {Lajoie, Pierre-Yves and Beltrame, Giovanni},
year = {2023},
eprint = {2301.06230},
eprinttype = {arxiv},
}
To clone the code:
sudo apt install python3-vcstool
git clone https://github.com/MISTLab/Swarm-SLAM.git
cd Swarm-SLAM
mkdir src
vcs import src < cslam.repos