DAGmap: Multi-Drone SLAM via a DAG-Based Distributed Ledger

Seongjoon Park, Hwangnam Kim

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Simultaneous localization and mapping (SLAM) in unmanned vehicles, such as drones, has great usability potential in versatile applications. When operating SLAM in multi-drone scenarios, collecting and sharing the map data and deriving converged maps are major issues (regarded as the bottleneck of the system). This paper presents a novel approach that utilizes the concepts of distributed ledger technology (DLT) for enabling the online map convergence of multiple drones without a centralized station. As DLT allows each agent to secure a collective database of valid transactions, DLT-powered SLAM can let each drone secure global 3D map data and utilize these data for navigation. However, block-based DLT—a so called blockchain—may not fit well to the multi-drone SLAM due to the restricted data structure, discrete consensus, and high power consumption. Thus, we designed a multi-drone SLAM system that constructs a DAG-based map database and sifts the noisy 3D points based on the DLT philosophy, named DAGmap. Considering the differences between currency transactions and data constructions, we designed a new strategy for data organization, validation, and a consensus framework under the philosophy of DAG-based DLT. We carried out a numerical analysis of the proposed system with an off-the-shelf camera and drones.

Original languageEnglish
Article number34
Issue number2
Publication statusPublished - 2022 Feb


  • DAG-based DLT
  • Distributed ledger technology
  • Multi-agent SLAM

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Aerospace Engineering
  • Computer Science Applications
  • Artificial Intelligence


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