This repo contains a curative list of Collaborative SLAM on multi-agent system, inspired by Awesome-Implicit-NeRF-SLAM
Please feel free to send me pull requests or email to add papers!
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For an overview of Collabortive SLAM, checkout the Survey (Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape
All data from individual robots or sensors are sent to a central server or unit. The central server processes the data to create a unified map and determine each robot's location.
- CCM-SLAM: Robust and efficient centralized collaborative monocular simultaneous localization and mapping for robotic team JFR, 2019 [Paper] [Code]
- maplab 2.0 – a modular and multi-modal mapping framework. RA-L, 2022 [Paper] [Code]
- Lamp 2.0: A robust multi-robot slam system for operation in challenging large-scale underground environments, RA-L, 2022 [Paper] [Code]
- Edge robotics: Edge-computing-accelerated multirobot simultaneous localization and mapping, IoT-J, 2022 [Paper]
- COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM, ICRA, 2023 [Paper] [Code]
- Robust Map Fusion with Visual Attention Utilizing Multi-agent Rendezvous, ICRA, 2023 [Paper]
- AdaptSLAM: Edge-Assisted Adaptive SLAM with Resource Constraints via Uncertainty Minimization, INFOCOM, 2023 [Paper] [Code]
- CP-SLAM: Collaborative Neural Point-based SLAM System, NeurIPS, 2024 [Paper] [Code]
- CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms, ICRA, 2024 [Paper] [Code]
- Edge-Assisted Multi-Robot Visual-Inertial SLAM With Efficient Communication T-ASE, 2024 [Paper]
- CCMD-SLAM: Communication-Efficient Centralized Multi-Robot Dense SLAM with Real-Time Point Cloud Maintenance TIM, 2024 [Paper]
- CMD-SLAM: A Fast Low-bandwidth Centralized Multi-robot Direct Stereo SLAM IV, 2024 [Paper]
- RCO-SLAM Robust Collaborative Visual-Inertial SLAM for Mobile Augmented Reality TVCG, 2024 [Paper]
- GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM *arxiv, 2025 [Paper]
- Streamlining Data Transfer in Collaborative SLAM Through Bandwidth-Aware Map Distillation *TMC, 2025 [Paper]
- CPL-SLAM: Centralized Collaborative Multi-Robot Visual-Inertial SLAM Using Point-and-Line Features, IoT-J, 2025 [Paper]
- Sparse Hierarchical LiDAR Bundle Adjustment for Online Collaborative Localization and Mapping, RA-L, 2025 [Paper]
- Above and Below: Heterogeneous Multi-Robot SLAM across Surface and Underwater Domains, ICRA, 2026 [Paper]
- TWC-SLAM: Multi-Agent Cooperative SLAM with Text Semantics and WiFi Features Integration for Similar Indoor Environments, IROS, 2025 [Paper]
Each robot operates independently, creating its own map and determining its own location, Robots may occasionally share map information with others upon encounter.
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Data-Efficient Decentralized Visual SLAM ICRA, 2018 [Paper] [Code]
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DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams, RA-L, 2020 [Paper] [Code]
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Omni-swarm: A decentralized omnidirectional visual–inertial–uwb state estimation system for aerial swarms [Paper] [Code]
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CoVOR-SLAM: Cooperative SLAM using Visual Odometry and Ranges for Multi-Robot Systems, TITS, 2025[Paper]
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Cross-Agent Relocalization for Decentralized Collaborative SLAM, ICRA, 2023, [Paper] [Code]
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Swarm-SLAM:Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems, RA-L, 2024, [Paper] [Code]
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Multi S-Graphs:an Efficient Real-time Distributed Semantic-Relational Collaborative SLAM, RA-L, 2024 [Paper] [Code]
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Decentralized state estimation: An approach using pseudomeasurements and preintegration IJRR, 2024 [Paper] [Code]
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SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation arxiv, 2024 [Paper]
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Swarm-LIO2: Decentralized, Efficient LiDAR-inertial Odometry for UAV Swarms T-RO, 2024 [Paper] [Code]
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DVM-SLAM: Decentralized Visual Monocular Simultaneous Localization and Mapping for Multi-Agent Systems arxiv, 2025 [Paper] [Code]
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GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM arxiv, 2025 [Paper]
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Cluster-ALIV: Aerial LiDAR-Inertia-Visual Dense Reconstruction for Cluster UAV [Paper]
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HAMMER: Heterogeneous, Multi-Robot Semantic Gaussian Splatting RA-L, 2025 [Paper]
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D^2SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm, T-RO, 2024 [Paper] [Code]
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Multi-Robot Object SLAM Using Distributed Variational Inference, RA-L, 2024 [Paper] [Code]
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Ultra-Lightweight Collaborative SLAM for Robot Swarms, IEEE Access, 2025 [Paper]
In a distributed system, the processing is spread across multiple nodes or agents. Robots collect data and perform their own localization and mapping, but also communicate and share information with each other through constant communication to build a comprehensive global map.
- CoSLAM: Collaborative Visual SLAM in Dynamic Environments TPAMI, 2013[Paper] [Code]
- Multirobot Collaborative Monocular SLAM Utilizing Rendezvous, T-RO, 2021 [Paper]
- Distributed Ranging SLAM for Multiple Robots with Ultra-WideBand and Odometry Measurements IROS, 2022 [Paper]
- Kimera-multi: Robust, distributed, dense metric-semantic slam for multi-robot systems, T-RO, 2022 [Paper] [Code]
- DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization, RA-L, 2022 [Paper] [Code]
- DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams [Paper] [Code]
- SEAL: Simultaneous Exploration and Localization in Multi-Robot Systems, IROS, 2023 [Paper]
- DCL-SLAM: Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm, Sensors, 2023 [Paper] [Code]
- RING++: Roto-Translation Invariant Gram for Global Localizationz on a Sparse Scan Map, T-RO, 2023 [Paper] [Code1] [Code2]
- A Robot Web for DistributedMany-Device Localization T-RO 2023 [Paper]
- IRBCD Distributed Pose-graph Optimization with Multi-level Partitioning for Collaborative SLAM, arxiv, 2024 [Paper]
- Di-NeRF: Distributed NeRF for Multi-Robot Collaborative Learning with Unknown Relative Poses RA-L, 2024 [Paper]
- MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAM CVPR, 2025 [Paper]
- MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction CVPR, 2025 [Paper] [Code]
- MNE-SLAM: Multi-Agent Neural SLAM for Mobile Robots: Multi-Agent Neural SLAM for Mobile Robots CVPR, 2025 [Paper]
- MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representation [Paper] [Code]
- OpenMulti: Open-Vocabulary Instance-Level Multi-Agent Distributed Implicit Mapping [RA-L, 2025]
- CoMA-SLAM: Collaborative Multi-Agent Gaussian SLAM with Geometric Consistency [Paper] [Code]
- CDC-SLAM: Switchable Centralized and Distributed Collaborative LiDAR SLAM Framework for Robotic Swarms, ICRA, 2026 [Paper]
- DRACo-SLAM2: Distributed Robust Acoustic Communication-Efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams with Object Graph Matching, IROS, 2025 [Paper]
- ROBO: Overlapping Domain Decomposition for Distributed Pose Graph Optimization, ICRA, 2026 [Paper]
- Contractive Belief Sharing: Distributed Pose Graph Optimization via Contractive Belief Sharing, RA-L, 2026 [Paper]
- UDON: Uncertainty-Weighted Distributed Optimization for Multi-Robot Neural Implicit Mapping under Extreme Communication Constraints, ICRA, 2026 [Paper]
- ID(O): Mapping Data Quantization for Bathymetric Collaborative SLAM, T-RO, 2026 [Paper]
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UTIAS The UTIAS multi-robot cooperative localization and mapping dataset, IJRR, 2011 [[Paper](https://journals.sagepub.com/doi/abs/10.1177/0278364911398404] [Project_page]
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Airmuseum: a heterogeneous multi-robot dataset for stereo-visual and inertial simultaneous localization and mapping, MFI, 2020 [Paper] [Code]
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S3E: A Large-scale Multimodal Dataset for Collaborative SLAM, RA-L, 2024 [Paper] [Project_page]
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GRACO: A Multimodal-Heterogeneous Dataset for Ground and Aerial Cooperative Localization and Mapping, RA-L, 2023 [Paper] [Code]
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Kimera-Multi: Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned, IROS, 2023 [Paper] [Project_page]
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Customizable-SLAM: Customizable Perturbation Synthesis for Robust SLAM Benchmarking, arxiv, 2024 [Paper] [Code]
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SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments CVPR 2024 [Paper] [Project_page]
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CSE-Dataset A Benchmark Dataset for Collaborative SLAM in Service Environments [Paper] [Code]
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DiTer++: Diverse Terrain and Multi-modal Dataset for Multi-Robot SLAM in Multi-session Environments ICRA, 2025 [Paper] [Project Page]
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COSMO-Bench: A Benchmark for Collaborative SLAM Optimization, ICRA, 2026 [Paper] [Project Page]
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CU-Multi: A Dataset for Multi-Robot Collaborative Perception, ICRA, 2026 [Paper]
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Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned, T-FR, 2025 [Paper]
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Visual Place Recognition
- Collaborative Visual Place Recognition through Federated Learning CVPRW 2024 [Paper]
- FLOCC-SLAM: 3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM, RA-L, 2025 [Paper]
- Markerless Robot Detection and 6D Pose Estimation for Multi-Agent SLAM, ICRA, 2026 [Paper]
- ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization, RSS, 2025 [Paper] [Project Page]
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Online reconsturction
- MACIM: Multi-Agent Collaborative Implicit Mapping RA-L 2024 [Paper]