Motivated by the tremendous progress we witnessed in recent years, this paper presents a survey of the scientific literature on the topic of Collaborative Simultaneous Localization and Mapping (C-SLAM), also known as multi-robot SLAM. With fleets of self-driving cars on the horizon and the rise of multi-robot systems in industrial applications, we believe that Collaborative SLAM will soon become a cornerstone of future robotic applications. In this survey, we introduce the basic concepts of C-SLAM and present a thorough literature review. We also outline the major challenges and limitations of C-SLAM in terms of robustness, communication, and resource management. We conclude by exploring the area's current trends and promising research avenues.
翻译：由于近年来我们目睹的巨大进展,本文件对关于合作同时定位和绘图(C-SLAM)专题的科学文献(又称多机器人SLM)进行了调查。 随着自驾汽车车队在地平线上行驶,工业应用中多机器人系统的兴起,我们认为合作SLAM不久将成为未来机器人应用的基石。在这次调查中,我们介绍了C-SLAM的基本概念,并进行了彻底的文献审查。我们还概述了C-SLAM在稳健性、通信和资源管理方面所面临的重大挑战和局限性。最后,我们探讨了该地区目前的趋势和有希望的研究途径。
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