Market-based approach is improved and used to update the local maps by data fusion method and compute costs in the condition of connection, while it does not add the extra communication.

• 该方法利用机器人提交的标的信息，采用数据融合方法更新其他机器人的本地地图，在连通条件下计算原先无法计算的花费，而且未增加额外的通信量。