Abstract — Autonomous robotic systems (observers) equipped with range sensors must be able to discover their surroundings, in an initially unknown environment, for navigational purposes. We present an implementation of a recent environmentmapping algorithm [1] based on Essentially Non-oscillatory (ENO) interpolation [2]. An economical cooperative control tank-based platform [3] is used to validate our algorithm. Each vehicle on the test-bed is equipped with a flexible caterpillar drive, range sensor, limited onboard computing, and wireless communication. I
