Commerge: Communication-Efficient, Robust, and Fast LiDAR Map Merging Framework for Multi-Robot Coordination in Resource-Constrained Scenarios

arXiv:2606.25386v1 Announce Type: new Abstract: By maintaining global consistency across robot teams, multi-robot LiDAR map merging enables faster exploration and efficient area coverage. However, map merging requires exchanging massive sensor data between the server and robots, making communication the bottleneck, especially in communication-constrained environments. Therefore, we present Commerge, a communication-efficient map merging framework that achieves bandwidth reduction through graph-t...