Localization And Navigation Assisted By Networked Cooperating Sensors And Robots  

Oleh:

Corke, Peter ; Peterson, Ron ; Rus, Daniela

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 24 no. 9 (Sep. 2004), page 771-886.
Topik: distributed robots; networked robots; localization; navigation; sensor nets
Fulltext: 771.pdf (554.57KB)

Isi artikel

In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation.We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space.We explore these novel ideas with results from two large-scale sensor network and robot experiments involving 50 motes, two types of flying robot: an autonomous helicopter and a large indoor cable array robot, and a human–network interface. We present the distributed algorithms for localization, geographic routing, path definition and incremental navigation.We also describe how a human can be guided using a simple hand-held device that interfaces to this same environmental infrastructure.

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