Multirobot FastSLAM Algorithm Based on Landmark Consistency Correction

Table 1

Error statistics for each robot by four algorithms.

Robot	Algorithm	The mean of pose/m	The variance of pose/m	The mean of landmark/m	The variance of landmark/m	The mean of pose in Figure 4/m	The mean of landmark in Figure 4/m
1	FastSLAM2.0	0.7029	0.4280	0.7003	0.4305	0.7521	0.6508
	EM-FastSLAM	0.4101	0.2206	0.4701	0.2159	0.5103	04345
	Multirobot SLAM	0.3872	0.3010	0.2808	0.2039	0.5409	0.3811
	MBLCC-FastSLAM	0.2501	0.1850	0.2048	0.1206	0.3772	0.2907
2	FastSLAM2.0	1.2852	0.5213	1.4001	0.6827	1.3212	1.3597
	EM-FastSLAM	0.7469	0.3352	0.5861	0.2925	0.6734	0.4870
	Multirobot SLAM	0.4561	0.2014	0.5031	0.2022	0.4508	0.4421
	MBLCC-FastSLAM	0.2873	0.1769	0.3551	0.1527	0.2883	0.2474
3	FastSLAM2.0	0.7690	0.5263	0.6539	0.5502	0.6113	0.5322
	EM-FastSLAM	0.6889	0.4470	0.5960	0.5019	0.5847	0.3680
	Multirobot SLAM	0.4501	0.2803	0.4391	0.3618	0.3715	0.3952
	MBLCC-FastSLAM	0.3541	0.2061	0.3789	0.3284	0.3003	0.2493