協調SLAMの現在の研究動向：サーベイ
Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape
複数ロボットによる協調SLAM（C-SLAM）の基本概念から最新研究までを体系的に整理し、堅牢性・通信・資源管理の課題と今後の研究方向を展望したサーベイ論文。
著者: Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu, Giovanni Beltrame
分類: cs.RO
原文アブストラクト
Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM. With fleets of self-driving cars on the horizon and the rise of multi-robot systems in industrial applications, we believe that Collaborative SLAM will soon become a cornerstone of future robotic applications. In this survey, we introduce the basic concepts of C-SLAM and present a thorough literature review. We also outline the major challenges and limitations of C-SLAM in terms of robustness, communication, and resource management. We conclude by exploring the area's current trends and promising research avenues.
