Multi-agent Exploration and Mapping
Mapping of an unknown environment using multiple agents investigates relevant information exchange for avoiding redundancy in exploration, information exchange methods and various multi-agent exploration methods.
Key Contributors: Dr. Arpita Sinha (IITB), Dr. Sarat C. Nagavarapu (PhD 2016)
Selected Publication
- Sarat Chandra Nagavarapu, Leena Vachhani, Arpita Sinha and Somnath Buruily, "Generalizing Multi-agent Graph Exploration Techniques", Internatinal Journal of Control, Automation and Systems, Springer , http://dx.doi.org/10.1007/s12555-019-0067-8
- Sarat Chandra N., Leena Vachhani and Arpita Sinha, "Multi-robot Graph Exploration and Map Building with Collision Avoidance: A Decentralized Approach", Journal of Intelligent and Robotic Systems, Springer, vol. 83(3-4), pp 503-523, September, 2016 . (Impact Factor: 2.02)
Projects
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Autonomous Exploration of a Structured Environment using Multi-Vehicle System (co-PI)
Sponsor: ARDB
Duration: Feb,2017-Feb,2019
Abstract: Exploration technique for multi-vehicle system addresses coordination, communication and guaranteed exploration of a structured environment. Challenge is to benchmark existing techniques under various scenarios.
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Computer Vision Algorithm for Object Detection Tracking and Distance Measurement (co-PI)
Sponsor: DYSL, DRDO
Duration: Sept, 2020-Sept, 2021
Abstract: The velocity estimation of dynamic obstacle is crucial for moving target detection and tracking. With limited capabilities of an autonomous vehicle, the velocity estimation using vision becomes prime importance. Developing and benchmarking of the estimation algorithms using Kalman Filter and Machine Learning are prime objectives of this project.