Localization and navigation assisted by cooperating networked sensors and robots
Corke, Peter, Peterson, Ron , & Rus, Daniela (2005) Localization and navigation assisted by cooperating networked sensors and robots. The International Journal of Robotics Research, 24(9), pp. 771-786.
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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|Item Type:||Journal Article|
|Keywords:||distributed robots, navigation, sensor nets, localization, networked robots|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2005 SAGE|
|Deposited On:||10 Sep 2010 11:55|
|Last Modified:||01 Mar 2012 00:12|
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