Cooperative map building: An approach to distributed, multi-modal SLAM
series DFKI Documents, volume 15-03, pages 10, Sep/2015. DFKI GmbH.
The talk will present the work that is currently done towards distributed map-building with teams of mobile
robots in the project TransTerrA. A brief explanation of the core concept of graph-based SLAM is followed
by an overview of the mapping currently developed at DFKI. It will then discuss why graph-based approaches
to the SLAM problem are inherently well suited for cooperation in an heterogeneous team of robots equipped
with different types of sensors.