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Conference Papers Year : 2020

Atlas: Exploration and Mapping with a Sparse Swarm of Networked IoT Robots

Abstract

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 regardless 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 completes a full exploration even in the extreme case of a single robot. We developan open-source simulator and show that Atlas out performs the state-of-the-art in terms of exploration speed and completeness of the resulting map.
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Dates and versions

hal-02916797 , version 1 (18-08-2020)

Identifiers

  • HAL Id : hal-02916797 , version 1

Cite

Razanne Abu-Aisheh, Francesco Bronzino, Myriana Rifai, Brian Kilberg, Kris Pister, et al.. Atlas: Exploration and Mapping with a Sparse Swarm of Networked IoT Robots. Wi-DroIT 2020 - Workshop on Wireless Sensors and Drones in Internet of Things, Jun 2020, Los Angeles, CA / Virtual, United States. ⟨hal-02916797⟩
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