**6. Conclusions**

This chapter described how the ACO can be applied to the problem of grid map merging and analyzed how much the ACO improves the accuracy of grid map merging. The ACO needed to be modified to be applied to the merged map optimization. The search space for the ACO for grid map merging needs to be divided into two areas which contains the possible configurations of *x* and *y* translations respectively. The proposed method with the ACO was tested with the SMM which is a well-known indirect grid map matching algorithm. The ACO improved the accuracy of the SMM. The improved amounts increased slightly according to the number of ants in the ACO. Consequently, the modified ACO can be successfully applied to the problem of grid map merging and improve the accuracy of grid map merging.

*Grid Map Merging with Ant Colony Optimization for Multi-Robot Systems DOI: http://dx.doi.org/10.5772/intechopen.98223*
