Robust Topological Feature Extraction for Mapping of Environments using Bio-Inspired Sensor Networks

@article{Dirafzoon2014RobustTF,
  title={Robust Topological Feature Extraction for Mapping of Environments using Bio-Inspired Sensor Networks},
  author={Alireza Dirafzoon and Edgar J. Lobaton},
  journal={ArXiv},
  year={2014},
  volume={abs/1410.4622}
}
In this paper, we exploit minimal sensing information gathered from biologically inspired sensor networks to perform exploration and mapping in an unknown environment. 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. Neighbor to neighbor interactions among the nodes are exploited to build point clouds representing spatial… CONTINUE READING
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