With the advent of mobile robotics, new research fields were born. In particular, one of the most interesting challenges regards the so-called Simultaneous Localization and Mapping, also known as SLAM: it concerns the task that a mobile robot accomplishes to accurately create a map of an unknown environment and localize itself in it. Since mapping large environments may take too much time if only a single agent is employed, SLAM frameworks that rely on a swarm of mobile robots begin to be developed in order to not only shorten times for mapping but also achieve higher accuracy. Thus, such methods aim at solving a multi-agent SLAM problem.