{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T14:01:06Z","timestamp":1772200866109,"version":"3.50.1"},"reference-count":113,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2020,12,7]],"date-time":"2020-12-07T00:00:00Z","timestamp":1607299200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51805055"],"award-info":[{"award-number":["51805055"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual robots, so as to provide a better representation of the environment. Hence, the map-merging methods play a crucial rule in multi-robot systems and determine the performance of multi-robot SLAM. This paper looks into the key problem of map merging for multiple-ground-robot SLAM and reviews the typical map-merging methods for several important types of maps in SLAM applications: occupancy grid maps, feature-based maps, and topological maps. These map-merging approaches are classified based on their working mechanism or the type of features they deal with. The concepts and characteristics of these map-merging methods are elaborated in this review. The contents summarized in this paper provide insights and guidance for future multiple-ground-robot SLAM solutions.<\/jats:p>","DOI":"10.3390\/s20236988","type":"journal-article","created":{"date-parts":[[2020,12,7]],"date-time":"2020-12-07T21:37:42Z","timestamp":1607377062000},"page":"6988","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":45,"title":["A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions"],"prefix":"10.3390","volume":"20","author":[{"given":"Shuien","family":"Yu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Mechanical Transmissions, School of Automotive Engineering, Chongqing University, Chongqing 400044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6728-5045","authenticated-orcid":false,"given":"Chunyun","family":"Fu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical Transmissions, School of Automotive Engineering, Chongqing University, Chongqing 400044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4800-6554","authenticated-orcid":false,"given":"Amirali K.","family":"Gostar","sequence":"additional","affiliation":[{"name":"School of Engineering, RMIT University, Melbourne, VIC 3001, Australia"}]},{"given":"Minghui","family":"Hu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Mechanical Transmissions, School of Automotive Engineering, Chongqing University, Chongqing 400044, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"438","DOI":"10.1109\/TIM.2012.2216475","article-title":"3-D-Laser-Based Scene Measurement and Place Recognition for Mobile Robots in Dynamic Indoor Environments","volume":"62","author":"Zhuang","year":"2013","journal-title":"IEEE Trans. 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