Unified Indoor Mapping with Swarm Mobile Robot Based Monte Carlo Technique

This work aims to enable robots with the ability to map unknown indoor environments. The proposed technique is implemented with a differential drive robot (Ratbot). This work focuses on the mapping of indoor environment with a swarm of mobile robots. The navigation and mapping with a swarm of Ratbot are based on fusion of each data collected by each robot to build a unified map for the whole environment. The used sensors in this research are Light Detection and Ranging (LIDAR), IMU, and encoder to localize each robot and build the map of the environment. Based on communication network between thr Ratbots, the robots can share local sensing information to coordinate the actions of all robots in the network. The motion of all Ratbots is coordinated with a frontier exploration motion planner that has been augmented with new sampling Strategies. Finally, experimental results show the effectivness of the proposed
technique in building a unified map with a swarm of mobile robot.