This repository provides an implementation of multi-robot mapping, implemented for the L310 Multi-Robot Systems.

The implementation considers the different scenarios:

• Centralised and decentralised mapping server. When decentralised, communication of maps between robots can only happen when they are close to one another.

• Known and unknown initial positions in global map. When the initial position is unknown ORB feature detection with a perspective transform is used to estimate the transformation between individual robot coordinate systems.

• Ubuntu 18.04

• ROS Melodic

• Gazebo v9.0

• RViz v1.13.1

• Python 3.6.5

Launch envrionments:

roslaunch multi_robot main.launch

Run navigation:

roslaunch multi_robot launch_slam.launch