Autonomous multi-robot navigation and mapping for swarm applications

Swarm exploration is a significant area of robotics research that has practical applications in search and rescue, environmental monitoring, and surveillance. It presents a challenge since a group of robots must cooperate and explore an unknown or partially known environment efficiently. To address...

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Main Author: Teoh, Chee Sern
Other Authors: Li King Ho Holden
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2023
Subjects:
Online Access:https://hdl.handle.net/10356/167120
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1671202023-05-27T16:51:55Z Autonomous multi-robot navigation and mapping for swarm applications Teoh, Chee Sern Li King Ho Holden School of Mechanical and Aerospace Engineering Temasek Laboratories @ NTU HoldenLi@ntu.edu.sg Engineering::Mechanical engineering::Robots Swarm exploration is a significant area of robotics research that has practical applications in search and rescue, environmental monitoring, and surveillance. It presents a challenge since a group of robots must cooperate and explore an unknown or partially known environment efficiently. To address this challenge, a recent project proposed a novel approach to swarm exploration. The approach involved equipping a group of robots with LIDAR sensors and using exploration algorithms and Extended Kalman filter to guide their movements while communicating with each other to share information. The system also employed mapping and map merging algorithms to conduct swarm exploration. The approach employed was effective in the efficient exploration of the surroundings and rapid accumulation of a substantial amount of data. The exploration technique showcased in the project involved the utilization of only 2 robots to serve as a representation of a swarm of robots. However, the system can accommodate additional robots to form a massive swarm system provided that the computational capacity can handle it. The system holds promise for mapping and monitoring the environment. Bachelor of Engineering (Mechanical Engineering) 2023-05-23T05:37:01Z 2023-05-23T05:37:01Z 2023 Final Year Project (FYP) Teoh, C. S. (2023). Autonomous multi-robot navigation and mapping for swarm applications. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/167120 https://hdl.handle.net/10356/167120 en C152 application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering::Robots
spellingShingle Engineering::Mechanical engineering::Robots
Teoh, Chee Sern
Autonomous multi-robot navigation and mapping for swarm applications
description Swarm exploration is a significant area of robotics research that has practical applications in search and rescue, environmental monitoring, and surveillance. It presents a challenge since a group of robots must cooperate and explore an unknown or partially known environment efficiently. To address this challenge, a recent project proposed a novel approach to swarm exploration. The approach involved equipping a group of robots with LIDAR sensors and using exploration algorithms and Extended Kalman filter to guide their movements while communicating with each other to share information. The system also employed mapping and map merging algorithms to conduct swarm exploration. The approach employed was effective in the efficient exploration of the surroundings and rapid accumulation of a substantial amount of data. The exploration technique showcased in the project involved the utilization of only 2 robots to serve as a representation of a swarm of robots. However, the system can accommodate additional robots to form a massive swarm system provided that the computational capacity can handle it. The system holds promise for mapping and monitoring the environment.
author2 Li King Ho Holden
author_facet Li King Ho Holden
Teoh, Chee Sern
format Final Year Project
author Teoh, Chee Sern
author_sort Teoh, Chee Sern
title Autonomous multi-robot navigation and mapping for swarm applications
title_short Autonomous multi-robot navigation and mapping for swarm applications
title_full Autonomous multi-robot navigation and mapping for swarm applications
title_fullStr Autonomous multi-robot navigation and mapping for swarm applications
title_full_unstemmed Autonomous multi-robot navigation and mapping for swarm applications
title_sort autonomous multi-robot navigation and mapping for swarm applications
publisher Nanyang Technological University
publishDate 2023
url https://hdl.handle.net/10356/167120
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