Closed form solutions to the multiple-platform simultaneous localization and map building (SLAM) problem

This paper presents a closed form solution to the multiple platform simultaneous localization and map building (SLAM) problem. Closed form solutions are presented in both state space and information based forms. A key conclusion of this paper is that the information-state based form offers many advantages over the state space formulation in allowing the SLAM algorithm to be decentralized across multiple platforms.