Networked robots : flying robot navigation using a sensor net
Corke, Peter, Peterson, Ron, & Rus, Daniela (2005) Networked robots : flying robot navigation using a sensor net. In Robotics Research : proceedings of the 11th International Symposium [Springer Tracts in Advanced Robotics), Springer Berlin Heidelberg, Santa Maria della Scala, Siena, Italy.
This paper introduces the application of a sensor network to navigate a flying robot. We have developed distributed algorithms and efficient geographic routing techniques to incrementally guide one or more robots to points of interest based on sensor gradient fields, or along paths defined in terms of Cartesian coordinates. The robot itself is an integral part of the localization process which establishes the positions of sensors which are not known a priori. We use this system in a large-scale outdoor experiment with Mote sensors to guide an autonomous helicopter along a path encoded in the network. A simple handheld device, using this same environmental infrastructure, is used to guide humans.
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|Item Type:||Conference Paper|
|Additional Information:||Also available in Star - Springer Tracts in Advanced Robotics 15; Robotics Research The eleventh international symposium, P.Dario and R. Chatila (eds.)pp.234-243 2005|
|Keywords:||flying robot, networked robot, navigation, sensor net|
|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 2003 [please consult author] Springer 2005|
|Deposited On:||30 Sep 2010 23:28|
|Last Modified:||01 Mar 2012 01:52|
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