# CoMA-SLAM

**Repository Path**: pi-lab/CoMA-SLAM

## Basic Information

- **Project Name**: CoMA-SLAM
- **Description**: CoMA-SLAM: Collaborative Multi-Agent SLAM System

- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-05-09
- **Last Updated**: 2026-05-09

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


# CoMA-SLAM: Collaborative Multi-Agent SLAM System

![images](./images/teaser.png)

## 1. Introduction

CoMA-SLAM is an advanced collaborative multi-agent Simultaneous Localization and Mapping (SLAM) system. This system can handle collaborative navigation and map construction tasks for multiple agents in complex environments, supporting real-time processing and high-precision reconstruction.

## 2. Environment Setup

### 2.1 System Requirements
- Ubuntu 20.04+
- Python 3.11+
- CUDA 11.0+

### 2.2 Environment Installation

```bash
conda create -n coma_slam python=3.11
conda activate coma_slam

pip install -r requirements.txt
```

## 3. Supported Datasets
Download the [MultiAgentDataset](https://figshare.com/s/a7b7dd3de48cde905bab) and organize the dataset according to the following structure:

```
CoMA-SLAM/
├── ReplicaMultiagent/
│   ├── Office-0/
│   ├── Apart-0/
└── AriaMultiagent/
    ├── room0/
    └── room1/
```

## 4. Quick Start
### 4.1 Running SLAM System
#### 4.1.1 Multi-GPU Parallel Run
To utilize multiple GPUs, open multiple terminals and run the same command with different GPU IDs:

```bash
# Terminal 1 (GPU 0)
conda activate coma_slam
python run_slam.py configs/ReplicaMultiagent/office_0.yaml \
    --input_path ReplicaMultiagent/Office-0/ \
    --output_path experience/2dgs_office_0/ \
    --gpu 0

# Terminal 2 (GPU 1)  
python run_slam.py configs/ReplicaMultiagent/office_0.yaml \
    --input_path ReplicaMultiagent/Office-0/ \
    --output_path experience/2dgs_office_0/ \
    --gpu 1
```

### 4.2 Post-processing

After SLAM processing is complete, run the post-processing script:

```bash
python post_slam.py configs/ReplicaMultiagent/office_0.yaml \
    --input_path ReplicaMultiagent/Office-0/ \
    --output_path experience/2dgs_office_0/
```

## 5. Configuration Files

System configuration files are located in the `configs/` directory:

```
configs/
├── ReplicaMultiagent/
│   ├── office_0.yaml
│   ├── apart_0.yaml
│   ├── apart_1.yaml
│   └── apart_2.yaml
└── AriaMultiagent/
    ├── room0.yaml
    └── room1.yaml
```

## Citation

If you find this work useful, please consider citing:

```bibtex
@article{Chen_Su_Wang_Han_Xia_Bu_Li_Hu_Meng_Wang_2026,
  title={CoMA-SLAM: Collaborative Multi-Agent Gaussian SLAM with Geometric Consistency},
  volume={40},
  url={https://ojs.aaai.org/index.php/AAAI/article/view/37283},
  DOI={10.1609/aaai.v40i4.37283},
  number={4},
  journal={Proceedings of the AAAI Conference on Artificial Intelligence},
  author={Chen, Lin and Su, Yongxin and Wang, Jvboxi and Han, Pengcheng and Xia, Zhenyu and Bu, Shuhui and Li, Kun and Hu, Boni and Meng, Shengqi and Wang, Guangming},
  year={2026},
  month={Mar.},
  pages={2922--2929}
}
```