# Dynamic Topological Mapping with Biobotic Swarms

@article{Dirafzoon2015DynamicTM, title={Dynamic Topological Mapping with Biobotic Swarms}, author={Alireza Dirafzoon and Alper Bozkurt and Edgar J. Lobaton}, journal={ArXiv}, year={2015}, volume={abs/1507.03206} }

In this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The proposed robust mapping technique constructs a topological map of the environment using only encounter information from the swarm. A sliding window strategy is adopted in conjunction with a topological mapping strategy based on local interactions among the… Expand

#### 4 Citations

A Probabilistic Topological Approach to Feature Identification Using a Stochastic Robotic Swarm

- Computer Science
- DARS
- 2016

This paper presents a novel automated approach to quantifying the topological features of an unknown environment using a swarm of robots with local sensing and limited or no access to global position… Expand

Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength

- Computer Science
- ArXiv
- 2019

This work presents a novel automated procedure for constructing a metric map of an unknown domain with obstacles using uncertain position data collected by a swarm of resource-constrained robots, thereby segmenting the obstacle-occupied region in the unknown domain. Expand

Information Correlated Lévy Walk Exploration and Distributed Mapping Using a Swarm of Robots

- Computer Science
- IEEE Transactions on Robotics
- 2020

It is proved that all robots’ maps will eventually converge to the actual map of the environment, and it is demonstrated that a technique based on topological data analysis, developed in previous work for generating topological maps, can be readily extended for adaptive thresholding of occupancy grid maps. Expand

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