Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866914289076404224 |
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| author | Lajoie, Pierre-Yves Soma, Karthik Bong, Haechan Mark Lemieux-Bourque, Alice Zhang, Rongge Varadharajan, Vivek Shankar Beltrame, Giovanni |
| author_facet | Lajoie, Pierre-Yves Soma, Karthik Bong, Haechan Mark Lemieux-Bourque, Alice Zhang, Rongge Varadharajan, Vivek Shankar Beltrame, Giovanni |
| contents | Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting 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 article, we share insights and lessons learned from C-SLAM experiments involving three robots operating on a Mars analogue terrain and communicating over an ad hoc network. We examine the impact of limited and intermittent communication on C-SLAM performance, as well as the unique localization challenges posed by planetary-like environments. Additionally, we introduce a novel dataset collected during our experiments, which includes real-time peer-to-peer inter-robot throughput and latency measurements. This dataset aims to support future research on communication-constrained, decentralized multirobot operations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_21063 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned Lajoie, Pierre-Yves Soma, Karthik Bong, Haechan Mark Lemieux-Bourque, Alice Zhang, Rongge Varadharajan, Vivek Shankar Beltrame, Giovanni Robotics Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting 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 article, we share insights and lessons learned from C-SLAM experiments involving three robots operating on a Mars analogue terrain and communicating over an ad hoc network. We examine the impact of limited and intermittent communication on C-SLAM performance, as well as the unique localization challenges posed by planetary-like environments. Additionally, we introduce a novel dataset collected during our experiments, which includes real-time peer-to-peer inter-robot throughput and latency measurements. This dataset aims to support future research on communication-constrained, decentralized multirobot operations. |
| title | Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned |
| topic | Robotics |
| url | https://arxiv.org/abs/2601.21063 |