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A Parallel RatSlam C++ Library Implementation

Part of the Communications in Computer and Information Science book series (CCIS,volume 1068)


RatSlam is a bio-inspired Simultaneous Location and Mapping (SLAM) algorithm used for autonomous mobile robots navigation tasks. This work presents a RatSlam algorithm implementation as a C++ library designed to take advantage of internal RatSlam modules parallelization. The RatSlam algorithm is presented with principal aspects of the library architecture design. Furthermore, its results using a well known RatSlam data set with a standard RatSlam implementation (OpenRatSLAM - Robot Operating System), and a Python implementation. The mapping found with the previous approaches and the proposed on this work were similar. Moreover, the execution times between the OpenRatSLAM and this C++ library was compared, with the proposed implementation having a lower execution time. Thus, the current implementation was validated and has some advantages against previous ones, which can be very relevant for real-time applications.


  • RatSlam implementation
  • SLAM algorithm
  • C++ RatSlam library

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  • DOI: 10.1007/978-3-030-36636-0_13
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Our research group acknowledges financial support from FAPEMA (Proc. UNIVERSAL - 01294/16), CAPES/BRAZIL (Finance Code 001) and CNPq/BRAZIL. Sen Cheng was supported by the German Research Foundation (DFG) through SFB 1280, project B14.

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Correspondence to Paulo Rogério de Almeida Ribeiro .

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de Souza Muñoz, M.E. et al. (2019). A Parallel RatSlam C++ Library Implementation. In: Cota, V., Barone, D., Dias, D., Damázio, L. (eds) Computational Neuroscience. LAWCN 2019. Communications in Computer and Information Science, vol 1068. Springer, Cham.

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