Shuhuan Wen,∗ Zhe Wang,∗∗ Jian Chen,∗ Luigi Manfredi,∗∗∗ and Yongzheng Tong∗
CSLAM, consensus estimation, jointly re-sample, dynamic network, multi-robot system, switching topology
This paper proposes the multi-robot Cooperative Simultaneous Lo- calization and Mapping (CSLAM) consensus estimation algorithm. The traditional consensus algorithm relies on the Laplacian matrix solution and the selection of consensus gains and requires tedious proof. This paper proposes a consensus estimation algorithm that uses the obtained global estimation to correct the weight distribution of local information. And then the CSLAM task can still ensure the accuracy of the map under dynamic network conditions. Simulations validate the proposed consensus estimation in multi-robot CSLAM systems.
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