TY - GEN
T1 - 3D Mapping Using Multi-agent Systems
AU - Jogeshwar, Bhaavin K.
AU - HomChaudhuri, Baisravan
AU - Kappagantula, Sivayazi
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - Disaster response refers to the operations that must be carried out during and/or after a disaster, to safeguard people along with property. These dangers could be outdoors or indoors. 3D mapping provides extensive information, such as the site of a disaster, and aids in quick mitigation response. Mapping a region depends on parameters like an environment’s area and the available resources. This paper demonstrates the relationship between the number of rooms and the number of unmanned aerial vehicles (UAVs) used to map an indoor area along with the overall time required to explore and compute it. The computational resources used include the OctoMap Library and the Frontier exploration algorithm. It was observed that increasing the number of UAVs subsequently to map an environment reduced the simulation time, only when the number of UAVs mapping the environment was less than or equal to the number of rooms in the environment.
AB - Disaster response refers to the operations that must be carried out during and/or after a disaster, to safeguard people along with property. These dangers could be outdoors or indoors. 3D mapping provides extensive information, such as the site of a disaster, and aids in quick mitigation response. Mapping a region depends on parameters like an environment’s area and the available resources. This paper demonstrates the relationship between the number of rooms and the number of unmanned aerial vehicles (UAVs) used to map an indoor area along with the overall time required to explore and compute it. The computational resources used include the OctoMap Library and the Frontier exploration algorithm. It was observed that increasing the number of UAVs subsequently to map an environment reduced the simulation time, only when the number of UAVs mapping the environment was less than or equal to the number of rooms in the environment.
UR - https://www.scopus.com/pages/publications/85177838659
UR - https://www.scopus.com/inward/citedby.url?scp=85177838659&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-4634-1_4
DO - 10.1007/978-981-99-4634-1_4
M3 - Conference contribution
AN - SCOPUS:85177838659
SN - 9789819946334
T3 - Lecture Notes in Electrical Engineering
SP - 39
EP - 51
BT - Intelligent Control, Robotics, and Industrial Automation - Proceedings of International Conference, RCAAI 2022
A2 - Sharma, Sanjay
A2 - Subudhi, Bidyadhar
A2 - Sahu, Umesh Kumar
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Robotics, Control, Automation and Artificial Intelligence, RCAAI 2022
Y2 - 24 November 2022 through 26 November 2022
ER -
