Corpus ID: 14163876

Dynamic Topological Mapping with Biobotic Swarms

  title={Dynamic Topological Mapping with Biobotic Swarms},
  author={Alireza Dirafzoon and Alper Bozkurt and Edgar J. Lobaton},
In this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The proposed robust mapping technique constructs a topological map of the environment using only encounter information from the swarm. A sliding window strategy is adopted in conjunction with a topological mapping strategy based on local interactions among the… Expand
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Topological mapping of unknown environments using an unlocalized robotic swarm
  • A. Dirafzoon, E. Lobaton
  • Computer Science, Engineering
  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2013
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