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

Razanne Abu-Aisheh (1) , Francesco Bronzino (1) , Myriana Rifai (1) , Brian Kilberg (2) , Kris Pister (2) , Thomas Watteyne (3)

1 Nokia Bell Labs [Paris-Saclay]
2 Berkeley EECS - Department of Electrical Engineering and Computer Sciences
3 EVA - Wireless Networking for Evolving & Adaptive Applications

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.

Mots clés: Swarm; Exploration; Mapping; IoT; Micro-Robots

Domaines: Réseaux et télécommunications [cs.NI]; Systèmes embarqués

Razanne Abu-Aisheh, Francesco Bronzino, Myriana Rifai, Brian Kilberg, Kris Pister, et al.. Atlas: Exploration and Mapping with a Sparse Swarm of Networked IoT Robots. Wi-DroIT 2020 - Workshop on Wireless Sensors and Drones in Internet of Things, Jun 2020, Los Angeles, CA / Virtual, United States. ⟨hal-02916797⟩