@inproceedings{reid_large-scale_2011,
	title = {Large-scale Multi-robot Mapping in {MAGIC} 2010},
	abstract = {We describe a large-scale decentralised multi-robot mapping system that outputs globally optimised metric maps in real-time. The mapping system was used by team {WAMbot} in the finals of the {Multi-Autonomous} Ground-robotics International Challenge {(MAGIC} 2010). Research contributions include a novel large-scale multi-robot graph-based non-linear map optimisation approach, a hybrid decentralised and distributed mapping system and novel graphics processing unit {(GPU)} based approaches for accelerating intensive map matching and fusion operations. Our mapping system scales linearly with map size and on commodity hardware can easily map a 500m{\textbackslash}times 500m urban area. We demonstrate robust, highly efficient and accurate mapping results from two different fleets of mobile robots. Videos, maps and timing results from the {MAGIC} 2010 challenge are presented.},
	booktitle = {5th {IEEE} International Conference on Robotics, Automation and Mechatronics},
	author = {Reid, Robert and Bräunl, Thomas},
	year = {2011}
	keywords = {Large-scale multi-robot mapping, simultaneous localisation & mapping (SLAM), graph-based SLAM, distributed, decentralised, GPU map fusion, GPU map correlation}
}