This paper concerns SLAM and exploration for a swarm of nano-UAVs. The laser range finder-based tinySLAM algorithm is used to build maps of the environment. The maps are synchronized using an iterative closest point algorithm. The UAVs then explore the map by steering to points selected by a modified dynamic coverage algorithm, for which we prove a stability result. Both algorithms inform each other, allowing the UAVs to map out new areas of the environment and move into them for exploration. Experimental findings using the nano-UAV Crazyflie 2.1 platform are presented. A key challenge is to implement all algorithms on the hardware limited experimental platform.

翻译：本文研究纳米无人机集群的SLAM与探索问题。采用基于激光测距仪的tinySLAM算法构建环境地图，并通过迭代最近点算法实现地图同步。无人机通过向改进动态覆盖算法选取的目标点导航进行地图探索，本文证明了该算法的稳定性。两种算法相互协同，使无人机能够测绘环境新区域并自主进入探索。文中展示了基于Crazyflie 2.1纳米无人机平台的实验结果。关键挑战在于如何在硬件资源受限的实验平台上实现所有算法。