A framework for mapping with biobotic insect networks: From local to global maps

Dirafzoon, Alireza; Bozkurt, Alper; Lobatón, Edgar

doi:10.1016/j.robot.2016.11.004

Cited by 23 publications

(12 citation statements)

References 79 publications

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“…Topological maps are a sparse representation of an environment capturing the topological relationship of obstacles or features, similar to a roadmap [29]. In direct pertinence to our work, topological maps have been built using resource-constrained swarms whose individual robots may not be able to position themselves or incorporate sensor measurements into a map on their own (e.g., [30][31][32][33][34][35][36]). The relative simplicity of each robot and the large number of robots within these swarms prohibit the use of existing multi-robot SLAM methods.…”

Section: Topological Mapping Using Swarms With Limited Exteroceptive-...mentioning

confidence: 99%

Occupancy Grid Mapping via Resource-Constrained Robotic Swarms: A Collaborative Exploration Strategy

et al. 2023

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This paper addresses the problem of building an occupancy grid map of an unknown environment using a swarm comprising resource-constrained robots, i.e., robots with limited exteroceptive and inter-robot sensing capabilities. Past approaches have, commonly, used random-motion models to disperse the swarm and explore the environment randomly, which do not necessarily consider prior information already contained in the map. Herein, we present a collaborative, effective exploration strategy that directs the swarm toward ‘promising’ frontiers by dividing the swarm into two teams: landmark robots and mapper robots, respectively. The former direct the latter, toward promising frontiers, to collect proximity measurements to be incorporated into the map. The positions of the landmark robots are optimized to maximize new information added to the map while also adhering to connectivity constraints. The proposed strategy is novel as it decouples the problem of directing the resource-constrained swarm from the problem of mapping to build an occupancy grid map. The performance of the proposed strategy was validated through extensive simulated experiments.

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Section: Topological Mapping Using Swarms With Limited Exteroceptive-...mentioning

confidence: 99%

Occupancy Grid Mapping via Resource-Constrained Robotic Swarms: A Collaborative Exploration Strategy

et al. 2023

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“…The locomotion of these augmented animals can then be externally controlled, spanning three modes of locomotion: walking/running, flying, and swimming. Notably, these capabilities have been demonstrated in jellyfish (figure 4(A)) [139,140], clams (figure 4(B)) [141], turtles (figure 4(C)) [142,143], and insects, including locusts (figure 4(D)) [27,144], beetles (figure 4(E)) [28,[145][146][147][148][149][150][151][152][153][154][155][156][157][158], cockroaches (figure 4(F)) [159][160][161][162][163][164][165], and moths [166][167][168][169][170].…”

Section: Cyborgsmentioning

confidence: 99%

“…By integrating sensors and cameras onto the electronic boards of cyborg insects, these biohybrid robots can potentially find human victims trapped in rubble after natural disasters. In addition, cooperation with other locomotive systems, such as drones, will likely be needed to establish a network that covers both air and ground in disaster-affected areas [160,161].…”

Section: Moving Beyond the Labmentioning

confidence: 99%

Biohybrid robots: recent progress, challenges, and perspectives

Webster‐Wood

Guix

et al. 2022

Bioinspir. Biomim.

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The past ten years have seen the rapid expansion of the field of biohybrid robotics. By combining engineered, synthetic components with living biological materials, new robotics solutions have been developed that harness the adaptability of living muscles, the sensitivity of living sensory cells, and even the computational abilities of living neurons. Biohybrid robotics has taken the popular and scientific media by storm with advances in the field, moving biohybrid robotics out of science fiction and into real science and engineering. So how did we get here, and where should the field of biohybrid robotics go next? In this perspective, we first provide the historical context of crucial subareas of biohybrid robotics by reviewing the past 10+ years of advances in microorganism-bots and sperm-bots, cyborgs, and tissue-based robots. We then present critical challenges facing the field and provide our perspectives on the vital future steps towards creating autonomous living machines.

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“…Perhaps the most mature approach consists in interfacing artificial elements with whole organisms or limbs. Examples range from living beetles and cockroaches embedded in a robotic motile substrate and/or coupled to electronic controllers [6][7][8][9][10][11][12][13][14][15][16][17] for enhancing maneuverability, adaptivity, and decisionmaking, to separated pigeon wings for improving passive flight control abilities. [18] Such techniques directly take advantage of naturally selected, fully formed, functional, and performant biological architectures.…”

Section: Introductionmentioning

confidence: 99%

Computationally Assisted Design and Selection of Maneuverable Biological Walking Machines

Wang

Zhang

Park

et al. 2021

Advanced Intelligent Systems

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The intriguing opportunities enabled by the use of living components in biological machines have spurred the development of a variety of muscle‐powered biohybrid robots in recent years. Among them, several generations of tissue‐engineered biohybrid walkers have been established as reliable platforms to study untethered locomotion. However, despite these advances, such technology is not mature yet, and major challenges remain. Herein, steps are taken to address two of them: the lack of systematic design approaches, common to biohybrid robotics in general, and in the case of biohybrid walkers specifically, the lack of maneuverability. A dual‐ring biobot is presented which is computationally designed and selected to exhibit robust forward motion and rotational steering. This dual‐ring biobot consists of two independent muscle actuators and a four‐legged scaffold asymmetric in the fore/aft direction. The integration of multiple muscles within its body architecture, combined with differential electrical stimulation, allows the robot to maneuver. The dual‐ring robot design is then fabricated and experimentally tested, confirming computational predictions and turning abilities. Overall, a design approach based on modeling, simulation, and fabrication exemplified in this versatile robot represents a route to efficiently engineer complex biological machines with adaptive functionalities.

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A framework for mapping with biobotic insect networks: From local to global maps

Cited by 23 publications

References 79 publications

Occupancy Grid Mapping via Resource-Constrained Robotic Swarms: A Collaborative Exploration Strategy

Occupancy Grid Mapping via Resource-Constrained Robotic Swarms: A Collaborative Exploration Strategy

Biohybrid robots: recent progress, challenges, and perspectives

Computationally Assisted Design and Selection of Maneuverable Biological Walking Machines

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