Probabilistic Map Building by Coordinated Mobile Sensors

In this paper, we develop an efficient algorithm for coordinating a group of mobile robotic sensors to collaboratively construct the probabilistic map (occupancy grid) of a random field. Each mobile sensor is responsible for exploring its online-computed dynamic Voronoi polygon with a tendency of moving toward the most uncertain area, thus avoiding energy and time waste from wandering around and surplus explorations. The performance is measured by the total entropy of the built probabilistic map. Simulation results show that our algorithm is both time and energy efficient