This article surveys recent progress and discusses future opportunities for simultaneous
localization and mapping (SLAM) in extreme underground environments. SLAM in …

This paper reports on the state of the art in underground SLAM by discussing different SLAM
strategies and results across six teams that participated in the three-year-long SubT …

Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale
underground environments requires high-precision localization and mapping. This crucial …

Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for
successful multi-robot operations in environments without an external positioning system …

Abstract Knowledge about the own pose is key for all mobile robot applications. Thus pose
estimation is part of the core functionalities of mobile robots. Over the last two decades …

Robust SLAM in large-scale environments requires fault resilience and awareness at
multiple stages, from sensing and odometry estimation to loop closure. In this work, we …

Accurate self and relative state estimation are the critical preconditions for completing swarm
tasks, eg, collaborative autonomous exploration, target tracking, search and rescue. This …

In the face of large-scale environmental mapping requirements, through the use of
lightweight and inexpensive robot groups to perceive the environment, the multi-robot …

For a multi-robot team that collaboratively explores an unknown environment, it is of vital
importance that the collected information is efficiently shared among robots in order to …

Knowledge about the own pose is key for all mobile robot applications. Thus pose
estimation is part of the core functionalities of mobile robots. In the last two decades, LiDAR …