Research Article

A Fast Map Merging Algorithm in the Field of Multirobot SLAM

Algorithm 1

Calculation process of distance-map in grid map.
Input:  the grid map and grid value
Output:  distance-map
1for   to   do
2 for   to   do
3 if   then
4    ;
5 else
6    ;
7 end
8 end
9 end
10   for     to   do
11 for     to   do
12
13 ;
14 end
15   end
16   for   to   do
17 for   to   do
18 ;
19 ;
20 end
21   end
22  return ;