Map building for multi-robotic system based on robot technology middleware

Multi-robot system is widely used in exploring in large-scale unknown environment and performing the complex tasks. This paper presents map building for multi-robot system using RTM as communication platform. We use the Player Project works as simulation platform to realize topological map for multi-robotic system and use SP2ATM algorithm for path planning. The paper presents the architecture of the proposed method and gives some experiments to verify the effectiveness.