Autonomous Robotic Exploration and Mapping of Smart Indoor Environments With UWB-IoT Devices Tianyi Wang1∗, Ke Huo1∗, Muzhi Han2, Daniel McArthur1, Ze An1, David Cappeleri1, and Karthik Ramani13 1School of Mechanical Engineering at Purdue University, US fwang3259, khuo, dmcarth, an40, dcappell,
[email protected] 2Department of Mechanical Engineering at Tsinghua University, China,
[email protected] 3School of Electrical and Computer Engineering at Purdue University, US (by Courtesy) Abstract into the connected network, where they can leverage infor- mation collected from the IoT, and thus gain stronger sit- The emerging simultaneous localization and mapping uational awareness (Simoens, Dragone, and Saffiotti 2018) (SLAM) techniques enable robots with spatial awareness of the physical world. However, such awareness remains at a and spatial intelligence, which is especially useful in explo- geometric level. We propose an approach for quickly con- ration, planning, mapping and interacting with the environ- structing a smart environment with semantic labels to en- ment without relying on AI/vision-based navigation only. hance the robot with spatial intelligence. Essentially, we em- Recent advanced computer vision technologies, such as bed UWB-based distance sensing IoT devices into regular SLAM algorithms and depth sensing, have empowered items and treat the robot as a dynamic node in the IoT net- mobile robots with the ability to self-localize and build work. By leveraging the self-localization from the robot node, we resolve the locations of IoT devices in the SLAM map. maps within indoor environments using on-board sensors We then exploit the semantic knowledge from the IoT to only (Cadena et al. 2016), (Newcombe et al.