Abstract

Published: 2026 IEEE International Conference on Robotics and Automation

Abstract: Recent years have seen a focus on research into distributed optimization algorithms for multi-robot Collaborative Simultaneous Localization and Mapping (C-SLAM). Research in this domain, however, is made difficult by a lack of standard benchmark datasets. Such datasets have been used to great effect in the field of single-robot SLAM, and researchers focused on multi-robot problems would benefit greatly from dedicated benchmark datasets. To address this gap we design and release the Collaborative Open-Source Multi-robot Optimization Benchmark (COSMO-Bench) – a suite of 24 datasets derived from a state-of-the-art C-SLAM front-end and real-world LiDAR data.

Note: The website itself serves as a convenient interface to download the COSMO-Bench datasets. However, the datasets themselves are hosted in-perpetuity at: KILTHUB