This video shows one of the current limitations of the system. As the maps are independent (neither the system nor the maps know where the others are located) the user needs to be careful when creating maps to ensure that they do not overlap. In this video two maps are made next to each other, which is fine. But then, one map is expanded to cover the same area as the other. This causes indeterminate recovery behaviour as the system will recover to the best matching map.
http://www.robots.ox.ac.uk/~bob
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