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

We present an approach for global exploration and mapping of unknown environments using a swarm of cyborg insects, known as biobots, for emergency response scenarios under minimal sensing and localization constraints. We exploit natural stochastic motion models and controlled locomotion of biobots in conjunction with an aerial leader to explore and map a domain of interest. A sliding window strategy is adopted to construct local maps from coordinate free encounter information of the agents by means of local metric estimation. Robust topological features from these local representations are extracted using topological data analysis and a classification scheme. These maps are then merged into a global map which can be visualized using a graphical representation, that integrates geometric as well as topological features of the environment. Simulation and experimental results with biologically inspired robotic platform are presented to illustrate and verify the correctness of our approach, which provides building blocks for SLAM with biobotic insects.