Collaborative Simultaneous Localization and Mapping Dataset on Mars Analogue Terrain with Inter-Robot Communication Estimates

Decentralized Collaborative Simultaneous Localization and Mapping (C-SLAM) is essential to enable multi-robot missions in unknown environments without relying on pre-existing localization and communication infrastructure. This technology is anticipated to play a key role in the exploration of the Moon, Mars, and other planets. In this work, we introduce a novel dataset collected during C-SLAM experiments involving three robots operating on a Mars analogue terrain. The dataset includes real-time peer-to-peer inter-robot throughput and latency measurements, providing a valuable resource to support future research on communication-constrained, decentralized multi-robot operations.