Topological mapping of unknown environments using an unlocalized robotic swarm

Dirafzoon, Alireza; Lobatón, Edgar

doi:10.1109/iros.2013.6697160

Cited by 44 publications

(39 citation statements)

References 20 publications

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“…This sketch includes robust topological information obtained from a minimal amount of sensing. 11 Instead of providing continuous control feedback to the agents, we explore how the insects' natural behavior, modeled using stochastic motion, and weak encounter information in the form of identification of nearby agents can be exploited for mapping. These strategies make up for our platforms' hardware limitations.…”

Section: Mapping and Exploration Strategiesmentioning

confidence: 99%

A Biobotic Distributed Sensor Network for Under-Rubble Search and Rescue

2016

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Utilizing the latest neural engineering developments, researchers have enabled biobotic insects that would function as search-and-rescue agents to help map under-rubble environments and locate survivors and hazardous conditions. A fter a disaster, the survival of victims trapped under rubble often depends on how quickly they are found, rescued, and treated. First responders use search-and-rescue techniques such as canines, listening devices, and radars, which search the rubble's near-surface regions. However, complementary techniques are needed to penetrate the smaller gaps and voids deep in the rubble.Distributed systems are indisputably superior for tasks such as exploration, mapping, and large-area sensing. Recent achievements in swarm robotics, a new multirobot coordination-system approach, have been inspired by observations of emergent collective behaviors among insects. In swarm robotics, multiple smallerscale robots interacting with one another and the environment could coordinate their actions to help manage the under-rubble environment's uncertain and dynamic conditions. The following hypothetical scenario demonstrates the capability of such an under-rubble robotic sensor network. A major earthquake hits an urban environment, and several survivors are trapped under the collapsed ruins of a -story building. Time is short and limited tools are available for removing debris.A special rst-responder team arrives with a set of insect-sized robots, which they drop at the edge of the rubble pile. These robotic agents carry tiny radios on their backs that, together with other sensors, measure the distance between the agents to localize them with respect to a few reference points. As the robotic agents crawl through the rubble, their task is to keep moving while staying within a certain distance of one another to maintain the radio network.The agents' tiny environmental sensors, including microphones and infrared or gas sensors, monitor the rubble for dangerous gas leaks or victims' cries for help. The swarm moves collectively from one end of the rubble to the other. During this

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Section: Mapping and Exploration Strategiesmentioning

confidence: 99%

A Biobotic Distributed Sensor Network for Under-Rubble Search and Rescue

2016

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“…We also propose a classification technique to provide a robust quantitative representation of topological features in the data, to construct a map of the environment which will contain only robust features The approach has been analyzed using simulation [6] and experimental data [5] using a swarm robotic platform called the WolfBot [3].…”

Section: System Overviewmentioning

confidence: 99%

“…To minimize control input, we take advantage of the natural behavior of insects in order to estimate a topological model of the environment based only on neighbor-to-neighbor interactions. This approach was first introduced in [6], and was later improved in terms of accuracy and robustness in [5].…”

Section: Introductionmentioning

confidence: 99%

Exploration and topological mapping with Hexbugs

Dirafzoon

Lobatón

Bozkurt

2015

Proceedings of the 14th International Conference on Information Processing in Sensor Networks

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In this demonstration, we present a topological mapping system to be used with biobotic insects in order to sketch maps of unknown arenas using only neighbor to neighbor interactions among the agents. Biobotic insects fuse the locomotory advantages of insects with wireless sensing technology in form of electronic backpacks to function as search and rescue agents. Our mapping approach is designed for emergency response scenarios, where traditional mapping approaches may fail due to lack of localization information. We demonstrate the performance of our proposed approach instead using Hexbugs, which emulate the natural random motion of biobots. The Hexbugs are dispersed into a maze with unknown structure (Fig. 1), and their local interactions are captured through a visual tracking system. Such information is then exploited into a data analysis engine in order to robustly find the topological structure of the maze.

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“…Moreover, the addition of a small buzzer would enable biobotic agents know when they approach another agent. It has been shown that this information can be used to construct a topological map of an unknown environment [8].…”

Section: Introductionmentioning

confidence: 99%

Acoustic sensors for biobotic search and rescue

Whitmire

Latif

Bozkurt

2014

IEEE SENSORS 2014 Proceedings

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Advances in neural engineering have enabled direct control of insect locomotion. Insect biobots, with a natural ability to crawl through small spaces, offer unique advantages over traditional synthetic robots. A cyberphysical network of such biobots could prove useful for search and rescue applications in uncertain disaster environments. Our previous work has demonstrated control of Madagascar hissing cockroaches using a Kinect-based computer vision platform. We now demonstrate lowpower insect-mounted acoustic sensors for future use in both environmental mapping and localization of trapped survivors. Our experimentation has shown the capability of an insect mounted array of microphones to localize a sound source.

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Topological mapping of unknown environments using an unlocalized robotic swarm

Cited by 44 publications

References 20 publications

A Biobotic Distributed Sensor Network for Under-Rubble Search and Rescue

A Biobotic Distributed Sensor Network for Under-Rubble Search and Rescue

Exploration and topological mapping with Hexbugs

Acoustic sensors for biobotic search and rescue

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