NDLI: Mapping of unknown environments using minimal sensing from a stochastic swarm

Content Provider	IEEE Xplore Digital Library
Author	Dirafzoon, A. Betthauser, J. Schornick, J. Benavides, D. Lobaton, E.
Copyright Year	2014
Description	Author affiliation: Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA (Dirafzoon, A.; Betthauser, J.; Schornick, J.; Benavides, D.; Lobaton, E.)
Abstract	Swarms consisting of cyborg-insects or millirobots can be used for mapping and exploration of unstructured environments in emergency-response situations. Under extreme conditions, traditional localization techniques may fail to provide reliable position estimates. Instead, we propose a robust approach to obtain a topological map of an unknown environment using encounter information from a swarm of agents following a stochastic motion model via the use of tools from topological data analysis. A classification approach is introduced to determine the persistent topology features of the space. The approach is analyzed using simulation and experimental data using a swarm robotic platform called the WolfBot. For all experiments, the agents are programmed to follow a stochastic motion model and only rely on encounter information between agents to construct a map of the environment. The results indicate that the proposed approach can identify robust topological features with high accuracy.
Starting Page	3842
Ending Page	3849
File Size	2732410
Page Count	8
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6943102
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Measurement Feature extraction Robot sensing systems Robustness
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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