Pose compensation framework with explicit loop closing for multiple robots

A novel pose compensation framework based on a new type of explicit loop closing heuristics (ELCHs) is proposed for multiple robots, which provides a fast and very accurate solution to loop closing. The proposed framework efficiently compensates the poses of robots in the case of not only rendezvous but also of sharing a common place between the two robots. Two experiments show a significant improvement in pose accuracy by comparing the state-of-the-art map-merging technique and the original ELCH simultaneously.