Corpus ID: 14163876

Dynamic Topological Mapping with Biobotic Swarms

@article{Dirafzoon2015DynamicTM,
  title={Dynamic Topological Mapping with Biobotic Swarms},
  author={Alireza Dirafzoon and Alper Bozkurt and Edgar J. Lobaton},
  journal={ArXiv},
  year={2015},
  volume={abs/1507.03206}
}
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
A Probabilistic Topological Approach to Feature Identification Using a Stochastic Robotic Swarm
This paper presents 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 positionExpand
Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength
TLDR
This work presents 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, thereby segmenting the obstacle-occupied region in the unknown domain. Expand
Information Correlated Lévy Walk Exploration and Distributed Mapping Using a Swarm of Robots
TLDR
It is proved that all robots’ maps will eventually converge to the actual map of the environment, and it is demonstrated that a technique based on topological data analysis, developed in previous work for generating topological maps, can be readily extended for adaptive thresholding of occupancy grid maps. Expand

References

SHOWING 1-10 OF 49 REFERENCES
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
TLDR
This paper explores how stochastic motion models and weak encounter information can be exploited to learn topological information about an unknown environment and proposes a switching control mechanism for the motion models to extract features of complex environments in an effective way. Expand
Mapping of unknown environments using minimal sensing from a stochastic swarm
TLDR
A robust approach to obtain a topological map of an unknown environment using encounter information from a swarm of agents following a stochastic motion model via the use of tools from topological data analysis is proposed. Expand
Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization
TLDR
This paper presents a new method for simultaneous localization and mapping that exploits the topology of the robot's free space to localize the robot on a partially constructed map using the generalized Voronoi graph (GVG). Expand
Homological sensing for mobile robot localization
TLDR
A homological sensing model is formulated that operates on dual landmark and observation complexes enabling the robot to “count” the number of structures in its vicinity using local homology computations as a pseudo-metric surrogate sensor in the context of a Monte-Carlo localization algorithm. Expand
Robust Topological Feature Extraction for Mapping of Environments using Bio-Inspired Sensor Networks
TLDR
A probabilistic motion model of mobile sensing nodes, inspired by motion characteristics of cockroaches, is utilized to extract weak encounter information in order to build a topological representation of the environment. Expand
Topological Landmark-based Navigation and Mapping
Algebraic-topological criteria for domain coverage, hole-detection, and mapping are given in the context of dynamic multi-agent systems navigating with respect to beacons or landmark visibility. TheExpand
Experiments with Robots and Sensor Networks for Mapping and Navigation
TLDR
A network of Mica Mote sensors that can monitor temperature, light, and the movement of the structure on which they rest are considered, which includes an extension to chemical sensing in simulation only. Expand
Animal-inspired design and aerodynamic stabilization of a hexapedal millirobot
TLDR
The VelociRoACH is a 10 cm long, 30 gram hexapedal millirobot capable of running at 2.7 m/s, making it the fastest legged robot built to date, relative to scale and a new method of experimental dynamic tuning for legged millirobots, aimed at finding stable limit cycles with minimal rotational energy. Expand
A unified Bayesian framework for global localization and SLAM in hybrid metric/topological maps
TLDR
The filtering framework for hybrid metric/topological robot global localization and SLAM is designed for multi-hypothesis estimation in order to account for ambiguity when closing loops and for uniform uncertainty when initializing pose estimates. Expand
A model of animal movements in a bounded space.
TLDR
A statistical model of individual movement in a bounded space is developed and it is confirmed that the pattern of the spatial distribution of animals observed can be reliably accounted for by wall-following behaviors combined with a diffusive random walk. Expand
...
1
2
3
4
5
...