University of Calgary
In this paper, the authors consider a team of mobile robots that are tasked with building a map of the obstacles, including occluded ones, in a given environment. They propose an integrated framework for mapping with see-through capabilities using laser and wireless channel measurements, which can provide mapping capabilities beyond existing methods in the literature. Their approach leverages the laser measurements to map the visible parts of the environment (the parts that can be sensed directly by the laser scanners) using occupancy grid mapping. The parts that cannot be properly mapped by laser scanners (e.g. the occluded parts) are then identified and mapped based on wireless channel measurements.