Collaborative Simultaneous Localization and Mapping Dataset on Mars Analogue Terrain with Inter-Robot Communication Estimation

Pierre-Yves Lajoie , Karthik Soma, Haechan Bong, Alice Lemieux-Bourque, Rongge Zhang, Vivek Shankar Varadharajan and Giovanni Beltrame

Dataset (2024)

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Abstract

Decentralized Collaborative Simultaneous Localization and Mapping (C-SLAM) is essential to enable multi-robot missions in unknown environments without relying on pre-existing localization and communication infrastructure. This technology is anticipated to play a key role in the exploration of the Moon, Mars, and other planets. In this work, we introduce a novel dataset collected during C-SLAM experiments involving three robots operating on a Mars analogue terrain. The dataset includes real-time peer-to-peer inter-robot throughput and latency measurements, providing a valuable resource to support future research on communication-constrained, decentralized multi-robot operations.

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Department:	Department of Computer Engineering and Software Engineering
PolyPublie URL:	https://publications.polymtl.ca/62649/
Source:	IEEE DataPort
Publisher:	IEEE
DOI:	10.21227/z1zp-e621
Official URL:	https://doi.org/10.21227/z1zp-e621
Date Deposited:	10 Feb 2025 17:34
Last Modified:	28 Mar 2025 16:43

Cite in APA 7:	Lajoie, P.-Y., Soma, K., Bong, H., Lemieux-Bourque, A., Zhang, R., Varadharajan, V. S., & Beltrame, G. (2024). Collaborative Simultaneous Localization and Mapping Dataset on Mars Analogue Terrain with Inter-Robot Communication Estimation [Dataset]. IEEE DataPort. https://doi.org/10.21227/z1zp-e621

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