awesome-multi-robot-system

Recent multi-robot projects and papers: Including SLAM, datasets, place recognition, Large Language Models navigation, etc. Welcome to contribute together!

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Overview

• Multi-robot Datasets

• Multi-robot SLAM

  • Visual-Based
  • Lidar-Based
  • Distributed-Optimization

• Multi-robot Place Recognition

• Multi-robot LLM navigation

• Citation

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Multi-robot Datasets

• SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments, CVPR, 2024. [Paper] [Webpage]
• DiSCO-SLAM Dataset: - The Park Dataset , KITTI 08 Dataset

Multi-robot SLAM

Visual-Based

• maplab 2.0: A Modular and Multi-Modal Mapping Framework, IEEE RA-L 2023. [Paper] [Code]

Lidar-Based

• Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems, RA-L 2024. [Paper] [Code]
• DCL-SLAM: A Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm, IEEE SENSORS JOURNAL 2024. [Paper] [Code]
• CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms, ICRA 2024. [Paper] [Code]
• Swarm-LIO: Decentralized Swarm LiDAR-inertial Odometry, ICRA 2023. [Paper]
• DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization, RA-L 2022. [Paper] [Code]
• Ground and Aerial Collaborative Mapping in Urban Environments, RA-L 2021. [Paper] [Code]

Distributed-Optimization

• Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach, ICRA 2016. [Paper] [Code]
• Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models, CoRR 2017. [Paper] [Code]
• Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization, 2022. [Paper] [Code]
• Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM, IEEE RA-L 2022. [Paper]
• Distributed Pose-graph Optimization with Multi-level Partitioning for Collaborative SLAM, 2024. [Paper] [Code]

Multi-robot Place Recognition

• RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction, 2024.[Paper] [Webpage]
• Descriptor Distillation for Efficient Multi-Robot SLAM, ICRA 2023. [Paper]
• Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM, IEEE RA-L 2022. [Paper] [Code]
• SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation, arXiv. [Paper] [Code]

Multi-robot LLM navigation

• Co-NavGPT: Multi-Robot Cooperative Visual Semantic Navigation using Large Language Models, 2023. [Paper] [Webpage]

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Citation

If you find this repository useful, please consider citing this list:

@misc{grand2024awesomemultirobotpaperlist,
    title = {awesome-multi-robot-system},
    author = {Xiongwei Zhao, Zhixing Song, Juwon Kim, Gilhwan Kang},
    journal = {GitHub repository},
    email = {[email protected], [email protected], [email protected], [email protected]},
    url = {https://github.com/Grandzxw/awesome-multi-robot-system},
    year = {2024},
}