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In this paper we are presenting work done within the joint development project ANKommEn. It deals with the development of a highly\udautomated robotic system for fast data acquisition in civil disaster scenarios. One of the main requirements is a versatile system, hence\udthe concept embraces a machine cluster consisting of multiple fundamentally different robotic platforms. To cover a large variety of\udpotential deployment scenarios, neither the absolute amount of participants, nor the precise individual layout of each platform shall\udbe restricted within the conceptual design. Thus leading to a variety of special requirements, like onboard and online data processing\udcapabilities for each individual participant and efficient data exchange structures, allowing reliable random data exchange between\udindividual robots. We are demonstrating the functionality and performance by means of a distributed mapping system evaluated with\udreal world data in a challenging urban and rural indoor/outdoor scenarios

the international archives of the photogrammetry, remote sensing and spatial information sciences/international archives of the photogrammetry, remote sensing and spatial information sciences

A DISTRIBUTED ONLINE 3D-LIDAR MAPPING SYSTEM