Exploration and Mapping using a Sparse Robot Swarm: Simulation Results
HAL (Le Centre pour la Communication Scientifique Directe)(2020)
摘要
This research report is a companion to the following paper: Atlas: Exploration
and Mapping with a Sparse Swarm of Networked IoT Robots. Razanne Abu-Aisheh, Francesco
Bronzino, Myriana Rifai, Brian Kilberg, Kris Pister, Thomas Watteyne. Workshop on Wireless
Sensors and Drones in Internet of Things (Wi-DroIT), part of DCOSS, 2020. It expands that
paper by providing more detailed explanations and more complete results.
Exploration and mapping is a fundamental capability of a swarm of robots: robots enter an
unknown area, explore it, and collectively build a map of it. This capability is important regard-
less of whether the robots are crawling, flying, or swimming. Existing exploration and mapping
algorithms tend to either be inefficient, or rely on having a dense swarm of robots. This paper
introduces Atlas, an exploration and mapping algorithm for sparse swarms of robots, which com-
pletes a full exploration even in the extreme case of a single robot. We develop an open-source
simulator and show that Atlas outperforms the state-of-the-art in terms of exploration speed and
completeness of the resulting map.
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关键词
sparse robot swarm,exploration,mapping
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