Swarm mapping
Apr 27, 2016
Swarm in nature
Robotic swarms can potentially perform complicated tasks such as exploration and mapping at large space and time scales in a parallel and robust fashion. This project aims at developing strategies for mapping environmental features of interest – specifically obstacles, collision-free paths, generating a metric map and estimating scalar density fields– in an unknown domain using data obtained by a swarm of resource-constrained robots.
Ragesh Kumar Ramachandran
Planning and Control Engineer
My research interests include design and analysis of algorithms for solving various problems in Swarm robotic and Multi-robotic systems.
Related
Publications
Information Correlated Lévy Walk Exploration and Distributed Mapping Using a Swarm of Robots
We present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with …
Automated construction of metric maps using a stochastic robotic swarm leveraging received signal strength
We present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data …
Exploration, Mapping and Scalar Field Estimation using a Swarm of Resource-Constrained Robots
Robotic swarms can potentially perform complicated tasks such as exploration and mapping at large space and time scales in a parallel …
A Probabilistic Topological Approach to Feature Identification using a Stochastic Robotic Swarm
We present a novel automated approach to quantifying the topological features of an unknown environment using a swarm of robots with …
A Probabilistic Approach to Automated Construction of Topological Maps using a Stochastic Robotic Swarm
We present a novel procedure for constructing a topological map of an unknown environment from data collected by a swarm of robots with …
An Optimal Control Approach to Mapping GPS-Denied Environments using a Stochastic Robotic Swarm
We present an approach to mapping a region of interest using observations from a robotic swarm without localization. The robots have …