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In this paper, we address the problem of autonomous multi-robot mapping,exploration and navigation in unknown, GPS-denied indoor or urban environmentsusing a swarm of robots equipped with directional sensors with limited sensingcapabilities and limited computational resources. The robots have no a prioriknowledge of the environment and need to rapidly explore and construct a map ina distributed manner using existing landmarks, the presence of which can bedetected using onboard senors, although little to no metric information(distance or bearing to the landmarks) is available. In order to correctly andeffectively achieve this, the presence of a necessary density/distribution oflandmarks is ensured by design of the urban/indoor environment. We thus addressthis problem in two phases: 1) During the design/construction of theurban/indoor environment we can ensure that sufficient landmarks are placedwithin the environment. To that end we develop a filtration-based approach fordesigning strategic placement of landmarks in an environment. 2) We develop adistributed algorithm using which a team of robots, with no a priori knowledgeof the environment, can explore such an environment, construct a topologicalmap requiring no metric/distance information, and use that map to navigatewithin the environment. This is achieved using a topological representation ofthe environment (called a Landmark Complex), instead of constructing a completemetric/pixel map. The representation is built by the robot as well as used bythem for navigation through a balance between exploration and exploitation. Weuse tools from homology theory for identifying "holes" in thecoverage/exploration of the unknown environment and hence guiding the robotstowards achieving a complete exploration and mapping of the environment.

Landmark-based Distributed Topological Mapping and Navigation in GPS-denied Urban Environments Using Teams of Low-cost Robots