A framework for mapping with biobotic insect networks: From local to global maps

@article{Dirafzoon2017AFF,
  title={A framework for mapping with biobotic insect networks: From local to global maps},
  author={Alireza Dirafzoon and Alper Bozkurt and Edgar J. Lobaton},
  journal={Robotics and Autonomous Systems},
  year={2017},
  volume={88},
  pages={79-96}
}
We present an approach for global exploration and mapping of unknown environments using a swarm of cyborg insects, known as biobots, for emergency response scenarios under minimal sensing and localization constraints. We exploit natural stochastic motion models and controlled locomotion of biobots in conjunction with an aerial leader to explore and map a domain of interest. A sliding window strategy is adopted to construct local maps from coordinate free encounter information of the agents by… CONTINUE READING
BETA

Citations

Publications citing this paper.
SHOWING 1-5 OF 5 CITATIONS

A Probabilistic Approach to Automated Construction of Topological Maps Using a Stochastic Robotic Swarm

  • IEEE Robotics and Automation Letters
  • 2017
VIEW 3 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

Biobotic motion and behavior analysis in response to directional neurostimulation

  • 2017 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
  • 2017
VIEW 1 EXCERPT
CITES BACKGROUND

Geometric Learning and Topological Inference With Biobotic Networks

  • IEEE Transactions on Signal and Information Processing over Networks
  • 2016
VIEW 1 EXCERPT
CITES BACKGROUND

References

Publications referenced by this paper.
SHOWING 1-10 OF 92 REFERENCES

E

A. Dirafzoon, A. Bozkurt
  • Lobaton,
  • 2016
VIEW 5 EXCERPTS
HIGHLY INFLUENTIAL

Topological mapping of unknown environments using an unlocalized robotic swarm

  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2013
VIEW 10 EXCERPTS
HIGHLY INFLUENTIAL

Line following terrestrial insect biobots

  • 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • 2012
VIEW 6 EXCERPTS
HIGHLY INFLUENTIAL

Computational Topology: An Introduction

H. Edelsbrunner, J. Harer
  • American Mathematical Society
  • 2010
VIEW 6 EXCERPTS
HIGHLY INFLUENTIAL

A model of animal movements in a bounded space.

  • Journal of theoretical biology
  • 2003
VIEW 4 EXCERPTS
HIGHLY INFLUENTIAL

2012) Topological LandmarkbasedNavigation andMapping

R. Ghrist, D. Lipsky, J. Derenick, A. Speranzon
  • Tech. Rep., University of Pennsylvania, Department of Mathematics, Aug. 2012. 96 A. Dirafzoon et al. / Robotics and Autonomous Systems 88
  • 2017
VIEW 1 EXCERPT

Action classification from motion capture data using topological data analysis

  • 2016 IEEE Global Conference on Signal and Information Processing (GlobalSIP)
  • 2016
VIEW 1 EXCERPT

Similar Papers

Loading similar papers…