ResearchBenchmarksMulti-robot SLAM on HERCULES CityMulti-robot SLAM on HERCULES CityFollow1.53RMS ATE (UGV1 vs UGV2)ROMAN1.45351.491751.531.56825Jun 22, 2026Evaluation resultsMethodMethodLinksRMS ATE (UGV1 vs UGV2)RMS ATE (UGV1 vs UAV1)RMS ATE (UGV1 vs UAV2)RMS ATE (UGV2 vs UAV1)RMS ATE (UGV2 vs UAV2)RMS ATE (UAV1 vs UAV2)ROMANIntegration=Kimera-RPGOIntegration=Kimera-RPGO2026.061.5384.4974.21.5857.270.41