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CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments.

M. Ginting, K. Otsu, J. Edlund, J. Gao, и A. Agha-Mohammadi. IEEE Robotics Autom. Lett., 6 (3): 5064-5071 (2021)

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