Landmark-based matching algorithm for cooperative mapping by autonomous robots

This paper describes a landmark-based algorithm for map matching, and demonstrates its use in efficiently combining topological maps of indoor environments built by autonomous mobile robots. Results of the first implementation are presented, in which two robots with different mechanics and sensory capabilities independently explore their environments with no a priori maps. Each robot is initially unaware of the other's relative position and orientation. Using the match algorithm, they eventually merge their maps into a topologically correct single map in real time, based only on the feature sets they have discovered independently.