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