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This paper presents a two-dimensional multi-robot cooperative localization and mapping dataset collection for research and educational purposes. The dataset consists of nine sub-datasets, which can be used for studying problems such as robot-only cooperative localization, cooperative localization with a known map, and cooperative simultaneous localization and mapping (SLAM). The data collection process is discussed in detail, including the equipment we used, how measurements were made anddoi:10.1177/0278364911398404 fatcat:z75bh5ldrza3jbhfyhkolmk7dq