RRDP : An Ruin-Rebuild Based Approach for Dynamic Route Mapping in Multi-Robots Scenarios

Single-robot Simultaneous Localization and Mapping (SLAM) suffers from low accuracy and limited search range, which motivates the research on multi-robot SLAM technologies. However, most existing multi-robot SLAM algorithms do not exploit the prior environmental information sufficiently, resulting in deadlocks or failures during the autonomous exploration and mapping process. Moreover, they often face challenges such as overlapping area matching failure during map fusion, which degrades the map quality and completeness. To tackle these problems in multi-robot map construction, this paper proposes an improved approach based on the Ruin-Rebuild Dynamic Planning (RRDP) algorithm for dynamic routing in multi-robot scenarios. It incorporates a feedback mechanism to achieve stable control and autonomous map construction by following pre-defined auxiliary paths. Experiments show that the RRDP approach outperforms previous methods in terms of map integrity, accuracy, and mapping time.