SPARO Lab

SKiD-SLAM: Resource-Aware Distributed Multi-Robot
LiDAR SLAM for Planetary Missions with Field
Deployments at Analog Sites

IEEE Transactions on Field Robotics (T-FR) 2026
Hogyun Kim1, Juwon Kim1, Dongjin Cho1, Jiwon Choi1, Geonmo Yang1, Seokhwan Jeong1, Jiyun Lee1, Miryeong Park1, Hyungtae Lim2, and Younggun Cho1†
Bold: Corresponding author  ·  †: Principal Investigator (PI)
1Spatial AI and Robotics (SPARO) Lab, Inha University, South Korea
2Laboratory for Information & Decision Systems (LIDS), MIT, USA
Paper (TBD) arXiv Code Video (TBD)
SKiD-SLAM Overview
TL;DR: Robust, lightweight, and distributed multi-robot LiDAR SLAM for resource-constrained field environments. (placeholder caption)

Abstract

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Motivation

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Resource limitation

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Inter/intra-robot association

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Motivation

Key Insight

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Key insight

What SKiD-SLAM adds

Contribution 1

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Contribution 2

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Contribution 3

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Contribution 4

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Pipeline

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Robots

Intra-robot SLAM

SOLiD → Pose
Server

Robust inter-robot loop closure

Loop →
Server

Distributed map optimization

SKiD-SLAM pipeline

Method

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Component (A)

Reason [Placeholder] Why this component is needed.

Method [Placeholder] How it works.

Component (B)

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Component (C)

Reason [Placeholder]

Method [Placeholder]

SKiD-SLAM method

Evaluation

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Metric Name

Baseline SKiD-SLAM (Proposed)

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Metric (unit) ↓

Baseline TBD
SKiD-SLAM TBD
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Ablation Study

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Ablation

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Metric (unit) ↓

Variant ATBD
FullTBD
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BibTeX

@article{kim2026skidslam,
  author    = {Kim, Hogyun and Choi, Jiwon and Kim, Juwon and Yang, Geonmo and Cho, Dongjin and Lim, Hyungtae and Cho, Younggun},
  title     = {SKiD-SLAM: Resource-Aware Distributed Multi-Robot LiDAR SLAM for Planetary Missions with Field Deployments at Analog Sites},
  journal   = {IEEE Transactions on Field Robotics (T-FR)},
  year      = {2026},
}