Cooperative Robotic Structure Mapping Using Wireless Measurements - A Comparison of Random and Coordinated Sampling Patterns
In this paper, the authors consider a mobile robotic network that is tasked with building a map of the objects/obstacles in an environment. They are interested in the see-through mapping of the obstacles, i.e., a mapping approach that can build the spatial variations of the occluded structures. They consider two cooperative mapping approaches based on making a small number of random or coordinated wireless channel measurements between pairs of robots. Their preliminary past work suggested that the coordinated approach may perform better than the random case. In this paper, it is their goal to better understand if and to what extend this is correct and validates their findings with a robotic experiment.