Scalable Multirobot Localization and Mapping with Relative Maps: Introducing MOARSLAM

Cooperation between multiple robots or sensing devices, such as cell phones or head-mounted displays, can have great benefits in many different situations. Cooperating robots can maneuver through tight spaces, perform tasks in parallel, and increase redundancy and robustness to failure, while humans using intelligently connected devices can share augmented reality experiences. For coordination to be effective, though, coordinating devices and robots need to understand the structure of their environment, their locations within that environment, and their locations relative to each other.