Incremental multi-robot mapping

The purpose of this paper is to present a technique to create a global map of robots´ surroundings by converting the raw data acquired from a scanning sensor to a compact map composed of just a few generalized polylines (polygonal curves). We propose a new approach to merging robots´ maps that is composed of a local geometric process of merging similar line segments (termed discrete segment evolution) with a global statistical control process. In the case of single robot, we are able to incrementally build a map showing the environment the robot has traveled through by merging its polygonal map with actual scans. In the case of a robot team, we are able to identify common parts of their partial maps and if common parts are present construct a joint map of the explored environment.