{"id":"https://openalex.org/W7126205008","doi":"https://doi.org/10.48550/arxiv.2601.21063","title":"Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned","display_name":"Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned","publication_year":2026,"publication_date":"2026-01-28","ids":{"openalex":"https://openalex.org/W7126205008","doi":"https://doi.org/10.48550/arxiv.2601.21063"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2601.21063","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.21063","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2601.21063","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012462097","display_name":"Pierre\u2013Yves Lajoie","orcid":"https://orcid.org/0000-0002-7495-8567"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lajoie, Pierre-Yves","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120092150","display_name":"Karthik Soma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Soma, Karthik","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092685322","display_name":"Haechan Mark Bong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bong, Haechan Mark","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118822035","display_name":"Alice Lemieux-Bourque","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lemieux-Bourque, Alice","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085586809","display_name":"Rongge Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Rongge","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029060965","display_name":"Vivek Shankar Varadharajan","orcid":"https://orcid.org/0000-0003-0390-2774"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Varadharajan, Vivek Shankar","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5123435787","display_name":"Giovanni Beltrame","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Beltrame, Giovanni","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5012462097"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6373999714851379,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6373999714851379,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.23260000348091125,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.020600000396370888,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5942999720573425},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5223000049591064},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5109999775886536},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.44519999623298645},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.4020000100135803},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.3962000012397766},{"id":"https://openalex.org/keywords/wireless-ad-hoc-network","display_name":"Wireless ad hoc network","score":0.35839998722076416}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6536999940872192},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5942999720573425},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5223000049591064},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5109999775886536},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.44519999623298645},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.4020000100135803},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3962000012397766},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36000001430511475},{"id":"https://openalex.org/C94523657","wikidata":"https://www.wikidata.org/wiki/Q4085781","display_name":"Wireless ad hoc network","level":3,"score":0.35839998722076416},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3310999870300293},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.31869998574256897},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3018999993801117},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2903999984264374},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2833000123500824},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.2782000005245209},{"id":"https://openalex.org/C72634772","wikidata":"https://www.wikidata.org/wiki/Q386824","display_name":"Data integration","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.2639000117778778},{"id":"https://openalex.org/C46637626","wikidata":"https://www.wikidata.org/wiki/Q6693015","display_name":"Low latency (capital markets)","level":2,"score":0.2630999982357025}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2601.21063","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.21063","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2601.21063","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.21063","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6091686487197876}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Decentralized":[0],"collaborative":[1],"simultaneous":[2],"localization":[3,20,88],"and":[4,21,40,49,64,77,110],"mapping":[5],"(C-SLAM)":[6],"is":[7,26],"essential":[8],"to":[9,28,116],"enable":[10],"multirobot":[11,123],"missions":[12],"in":[13,33],"unknown":[14],"environments":[15],"without":[16],"relying":[17],"on":[18,59,80,120],"preexisting":[19],"communication":[22,79],"infrastructure.":[23],"This":[24,113],"technology":[25],"anticipated":[27],"play":[29],"a":[30,60,97],"key":[31],"role":[32],"the":[34,37,73,86],"exploration":[35],"of":[36,75],"Moon,":[38],"Mars,":[39],"other":[41],"planets.":[42],"In":[43],"this":[44],"article,":[45],"we":[46,95],"share":[47],"insights":[48],"lessons":[50],"learned":[51],"from":[52],"C-SLAM":[53,81],"experiments":[54],"involving":[55],"three":[56],"robots":[57],"operating":[58],"Mars":[61],"analogue":[62],"terrain":[63],"communicating":[65],"over":[66],"an":[67],"ad":[68],"hoc":[69],"network.":[70],"We":[71],"examine":[72],"impact":[74],"limited":[76],"intermittent":[78],"performance,":[82],"as":[83,85],"well":[84],"unique":[87],"challenges":[89],"posed":[90],"by":[91],"planetary-like":[92],"environments.":[93],"Additionally,":[94],"introduce":[96],"novel":[98],"dataset":[99,114],"collected":[100],"during":[101],"our":[102],"experiments,":[103],"which":[104],"includes":[105],"real-time":[106],"peer-to-peer":[107],"inter-robot":[108],"throughput":[109],"latency":[111],"measurements.":[112],"aims":[115],"support":[117],"future":[118],"research":[119],"communication-constrained,":[121],"decentralized":[122],"operations.":[124]},"counts_by_year":[],"updated_date":"2026-02-01T03:38:14.988550","created_date":"2026-02-01T00:00:00"}
