Topological mapping of unknown environments using an unlocalized robotic swarm

@article{Dirafzoon2013TopologicalMO,
  title={Topological mapping of unknown environments using an unlocalized robotic swarm},
  author={Alireza Dirafzoon and Edgar J. Lobaton},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2013},
  pages={5545-5551}
}
Mapping and exploration are essential tasks for swarm robotic systems. These tasks become extremely challenging when localization information is not available. In this paper, we explore how stochastic motion models and weak encounter information can be exploited to learn topological information about an unknown environment. Our system behavior mimics a probabilistic motion model of cockroaches, as it is inspired by current biobotic (cyborg insect) systems. We employ tools from algebraic… CONTINUE READING

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