Multi-SLAM for swarm application

• Main Author: Tan, Chen Qiu
• Other Authors: Li King Ho Holden
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/163473
• Institution: Nanyang Technological University

Alongside an increasing adoption of autonomous robots in more fields, much research has gone into improving the effectiveness of Simultaneous Localization and Mapping (SLAM). Multi-SLAM is one example of such research. It is a specific application of Simultaneous Localization and Mapping (SLAM) that carries out mapping with multiple robots and is expected to have several advantages over SLAM. Some of this include faster mapping time and eliminating a single point of failure in the mapping process. This report will hence explore the implementation of Cartographer algorithm of multi-SLAM and discuss its benefits and drawbacks. This is done by implementing Cartographer SLAM on a WaveShare Robot with a LiDAR sensor and analyzing the mapping result on RViz.