How can I build a decentralized SLAM system for multi-agent apps?
DVM-SLAM: Decentralized Visual Monocular Simultaneous Localization and Mapping for Multi-Agent Systems
This paper introduces DVM-SLAM, a decentralized system for multiple robots to collaboratively map an environment and locate themselves within it using only low-cost cameras. It’s particularly relevant to resource-constrained robots like drones. DVM-SLAM allows robots to merge their individual maps efficiently, handle communication disruptions gracefully, and recover if they lose track of their location. While not directly involving LLMs, the decentralized, peer-to-peer communication and map merging aspects are highly relevant to LLM-based multi-agent systems where agents need to share knowledge and coordinate in a decentralized manner. The paper's robust handling of communication dropouts and relocalization could inspire similar strategies in LLM-agent interactions, especially in unstable network environments.