We present a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by 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 and robust fashion. This thesis presents strategies for mapping environmental features of interest – specifically …
We present a novel automated approach to quantifying the topological features of an unknown environment using a swarm of robots with local sensing and limited or no access to global position information.
Mapping an environment using a swarm of robots.
We present an approach to mapping a region of interest using observations from a robotic swarm without localization. The robots have local sensing capabilities and no communication, and they exhibit stochasticity in their motion.