ResearchBenchmarksMulti-robot SLAM on HERCULES ForestMulti-robot SLAM on HERCULES ForestFollow1.08RMS ATE UGV1-UGV2 (m)ROMAN1.0261.0531.081.107Jun 22, 2026Evaluation resultsMethodMethodLinksRMS ATE UGV1-UGV2 (m)RMS ATE UGV1-UAV1 (m)RMS ATE UGV1-UAV2 (m)RMS ATE UGV2-UAV1 (m)RMS ATE UGV2-UAV2 (m)RMS ATE UAV1-UAV2 (m)ROMANIntegration=Kimera-RPGOIntegration=Kimera-RPGO2026.061.0843.881.4326.480.9349.17