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In this paper we address the data association problem of features observed by a robot team with limited communications. At every time instant, each robot can only exchange data with a subset of the robots, its neighbors. Initially, each robot solves a local data association with each of its neighbors. After that, the robots execute the proposed algorithm to agree on a data association between all their local observations which is globally consistent. One inconsistency appears when chains ofdoi:10.15607/rss.2010.vi.013 dblp:conf/rss/AraguesMS10 fatcat:7sik4clzmvhybhdlastqeukugy