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Multi-robot mapping and environment modeling have several advantages that makeit an attractive alternative to the mapping with a single robot: faster exploration, higherfault tolerance, richer data due to different sensors being used by different systems. However,the environment modeling with several robotic systems operating in the same area causes problemsof higher-order—acquired knowledge fusion and synchronization over time, revealing the sameenvironment properties using different sensorsdoi:10.3390/robotics8030074 fatcat:ihjxmwgozvfq7kizwm67u5xseq