Compressed Sensing Environmental Mapping by an Autonomous Robot
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Compressed Sensing Environmental Mapping by an Autonomous Robot

  • Author(s): Bertozzi, A
  • Horning, M
  • Lin, M
  • Srinivasan, S
  • Zou, S
  • Haberland, M
  • Yin, K
  • et al.
Abstract

This paper introduces the use of compressed sens- ing for autonomous robots performing environmental mapping in order to reduce data collection, storage, and transmission requirements. A prototype robot sends data collected over adaptively updated straight-line paths to a server, which reconstructs an image of the environment variable using Split- Bregman iteration. The amount of data collected is only 10% of the amount of data in the final map, yet the relative error is only 20%.

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