The work presented in this thesis covers the topic of deployment for mobile robot teams. By connecting robots in teams they can perform a better job than each individual is capable of. It also gives redundancy, increases robustness, provides scalability, and increases
The simultaneous localisation and mapping (SLAM) problem is one of the most central in robotics research. It asks if a mobile robot, put in an unknown location in an unknown environment, can incrementally build a consistent map of the environment and simultaneously
Autonomous robots typically rely on internal representations of the environment, or maps, to plan and execute their tasks. Several types of maps have been proposed in the literature, and there is general consensus that different types have different advantages and limitations, and