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To create a map of an unknown area, autonomous robots must follow a strategy to explore the area without knowing the optimal paths to reduce the time needed to map the whole area. To reduce the time to accomplish this task, multiple robots can work together to create a map in a more efficient way. However, without proper coordination, the time a team of autonomous robots needs to explore the unknown area can exceed the time needed by a single robot. To counteract the challenges, a shared infrastructure is needed which extracts useful information for the individual robots out of the shared information of all robots so the exploration can be coordinated. These measures introduce new challenges to the system, concerning the load of the communication infrastructure as well as the overall task of exploring and mapping becoming dependent on the correct communication and robustness of the shared team infrastructure. Therefore, the amount of communication and dependency of each individual robot of the rest of the other robots of the team must be reduced to ensure that the robots can continue working even if the communication with the shared infrastructure fails.
In this paper, design of 1×8 multimode interference passive optical splitter is proposed. The structure of the splitter is designed based on a silicon nitride material platform. This work aims to find the minimum physical dimensions of the designed splitters with the satisfactory optical performance. According to the minimum insertion loss and minimum non-uniformity, the optimum length of the splitters is determined.
Femtosecond laser ablation on Si generates 2D ripple structures, known as laser induced periodic surface structures (LIPSS) and pinholes. We fabricated membranes with 20 to 50 μm thickness perforated by an array of tapered pinholes up to 5 μm in diameter and 10 to 20 μm spacing. Within several micrometer the pinholes transform into hollow photonic waveguides with constant diameter from 1μm to 2μm. Such structures offer a 3D photonic coupling device for polymer Y-branch- and MMI-splitter. We measured a considerable change of electrical resistivity for 500 ppm H2 in air using Si/SiO2/TiO2 substrates with 2D LIPSS. We propose to investigate 3D waveguide arrays also for photonic-chemical sensors.