Networked robots: Flying robot navigation using a sensor net
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Description
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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| ID Code: | 33859 | ||
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| Item Type: | Chapter in Book, Report or Conference volume (Conference contribution) | ||
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| Measurements or Duration: | 10 pages | ||
| DOI: | 10.1007/11008941_25 | ||
| ISBN: | 978-3-540-23214-8 | ||
| Pure ID: | 34264206 | ||
| Divisions: | Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering | ||
| Copyright Owner: | Copyright 2003 [please consult author] Springer 2005 | ||
| Copyright Statement: | This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au | ||
| Deposited On: | 30 Sep 2010 23:28 | ||
| Last Modified: | 03 Mar 2024 12:13 |
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