mlsanityData to 13 Oct 2026

Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems

arXiv 2301.06230 ↗First posted 16 Jan 2023cs.RO cs.CVcited by 21

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Abstract (arXiv)

Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such as indoors, underground or underwater. In this paper, we introduce Swarm-SLAM, an open-source C-SLAM system that is designed to be scalable, flexible, decentralized, and sparse, which are all key properties in swarm robotics. Our system supports inertial, lidar, stereo, and RGB-D sensing, and it includes a novel inter-robot loop closure prioritization technique that reduces communication and accelerates convergence. We evaluated our ROS-2 implementation on five different datasets, and in a real-world experiment with three robots communicating through an ad-hoc network. Our code is publicly available: https://github.com/MISTLab/Swarm-SLAM

Key facts. Cited by 21 papers in the map (data through 13 Oct 2026). Builds on 29 of its 47 references that are in the map. First posted on arXiv 16 Jan 2023.

Builds on

29 of 47 references.

References · 29

  1. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 935
  2. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 571
  3. 2016Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Agecited by 405
  4. 2020TEASER: Fast and Certifiable Point Cloud Registrationcited by 274
  5. 2022Robot Operating System 2: Design, Architecture, and Uses In The Wildcited by 191
  6. 2022Rethinking Visual Geo-localization for Large-Scale Applicationscited by 160
  7. 2019Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejectioncited by 93
  8. 2021Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systemscited by 53
  9. 2019DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teamscited by 28
  10. 2018Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Modelscited by 24
  11. 2017Data-Efficient Decentralized Visual SLAMcited by 23
  12. 2021M2DGR: A Multi-sensor and Multi-scenario SLAM Dataset for Ground Robotscited by 23
17 more
  1. 2019Distributed Certifiably Correct Pose-Graph Optimizationcited by 17
  2. 2021Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscapecited by 15
  3. 2022LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environmentscited by 15
  4. 2022maplab 2.0 -- A Modular and Multi-Modal Mapping Frameworkcited by 14
  5. 2021COVINS: Visual-Inertial SLAM for Centralized Collaborationcited by 12
  6. 2017Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Modelscited by 11
  7. 2022S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAMcited by 10
  8. 2022A Robot Web for Distributed Many-Device Localisationcited by 9
  9. 2022Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAMcited by 8
  10. 2021Geometry-based Graph Pruning for Lifelong SLAMcited by 7
  11. 2020Asynchronous and Parallel Distributed Pose Graph Optimizationcited by 6
  12. 2022Self-Supervised Domain Calibration and Uncertainty Estimation for Place Recognitioncited by 5
  13. 2022Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAMcited by 5
  14. 2019A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guaranteescited by 4
  15. 2020VIR-SLAM: Visual, Inertial, and Ranging SLAM for single and multi-robot systemscited by 3
  16. 2022Spectral Measurement Sparsification for Pose-Graph SLAMcited by 3
  17. 2022Spectral Sparsification for Communication-Efficient Collaborative Rotation and Translation Estimationcited by 2

Built on by

Cited by year (2026 to 13 Oct)

Citing papers per year: 2023: 2; 2024: 9; 2025: 3; 2026: 7.

21 papers.

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  1. 2023CP-SLAM: Collaborative Neural Point-based SLAM Systemcited by 32
  2. 2024MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAMcited by 12
  3. 2025MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representationcited by 11
  4. 2024Never-Ending Behavior-Cloning Agent for Robotic Manipulationcited by 10
  5. 2024MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstructioncited by 5
  6. 2025GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAMcited by 4
  7. 2024Collaborative Visual Place Recognition through Federated Learningcited by 2
  8. 2024Self-Localized Collaborative Perceptioncited by 2
  9. 2024A Benchmark Dataset for Collaborative SLAM in Service Environmentscited by 2
  10. 2023DCP-Net: A Distributed Collaborative Perception Network for Remote Sensing Semantic Segmentationcited by 1
  11. 2024Efficient and Distributed Large-Scale 3D Map Registration using Tomographic Featurescited by 1
  12. 2024SPACE: 3D Spatial Co-operation and Exploration Framework for Robust Mapping and Coverage with Multi-Robot Systemscited by 1
9 more
  1. 2024Cooperative and Asynchronous Transformer-based Mission Planning for Heterogeneous Teams of Mobile Robotscited by 0
  2. 2025DVM-SLAM: Decentralized Visual Monocular Simultaneous Localization and Mapping for Multi-Agent Systemscited by 0
  3. 2026MA3DSG: Multi-Agent 3D Scene Graph Generation for Large-Scale Indoor Environmentscited by 0
  4. 2026When Simultaneous Localization and Mapping Meets Wireless Communications: A Surveycited by 0
  5. 2026Compact Keyframe-Optimized Multi-Agent Gaussian Splatting SLAMcited by 0
  6. 2026F3DGS: Federated 3D Gaussian Splatting for Decentralized Multi-Agent World Modelingcited by 0
  7. 2026A Survey of Spatial Memory Representations for Efficient Robot Navigationcited by 0
  8. 2026MR-SLAM: Immersive Spatial Supervision for Multi-Robot Mapping via Mixed Realitycited by 0
  9. 2026MAGiSt3R: Multi-Agent Feed-forward 3D Reconstruction from Monocular RGB Videoscited by 0