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Wireframe Mapping for Resource-Constrained Robots

          

 

I formulated a sparse map representation using an embedded labeled directed graph structure that compactly represents geometry as well as occlusions and frontier information. I tailored the particle filter framework to accommodate this map structure so each robot can incrementally updated and correct errors in its map. Finally, I developed a distributed algorithm to guide the exploration of the environment and enable the robots to verify shared information before it is accepted.