Perception still remains a challenging problem for autonomous navigation in unknown environment, especially for aerial vehicles. Most mapping algorithms for autonomous navigation are specifically designed for their very intended task, which hinders extended usage or cooperative task. In this paper, we propose a voxel mapping system that can build an adaptable map for multiple tasks. The system employs hash table-based map structure and manages each voxel with spatial and temporal priorities without explicit map boundary. We also introduce an efficient map-sharing feature with minimal bandwidth to enable multi-agent applications. We tested the system in real world and simulation environment by applying it for various tasks including local mapping, global mapping, cooperative multi-agent navigation, and high-speed navigation. Our system proved its capability to build customizable map with high resolution, wide coverage, and real-time performance regardless of sensor and environment. The system can build a full-resolution map using the map-sharing feature, with over 95 % of bandwidth reduction from raw sensor data.

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