Journal
16TH ANNUAL INTERNATIONAL CONFERENCE ON DISTRIBUTED COMPUTING IN SENSOR SYSTEMS (DCOSS 2020)
Volume -, Issue -, Pages 338-342Publisher
IEEE COMPUTER SOC
DOI: 10.1109/DCOSS49796.2020.00060
Keywords
Swarm; Exploration; Mapping; IoT; Micro-Robots
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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 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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