We present algorithms for gesture recognition using in-network processing in distributed sensor arrays embedded within systems such as tactile input devices, sensing skins for robotic applications, and smart walls. We describe three distributed gesture-recognition algorithms that are designed to function on sensor arrays with minimal computational power, limited memory, limited bandwidth, and possibly unreliable communication. These constraints cause storage of gesture templates within the system and distributed consensus algorithms for recognizing gestures to be difficult. Building up on a chain vector encoding algorithm commonly used for gesture recognition on a central computer, we approach this problem by dividing the gesture dataset between nodes such that each node has access to the complete dataset via its neighbors. Nodes share gesture information among each other, then each node tries to identify the gesture. In order to distribute the computational load among all nodes, we also investigate an alternative algorithm, in which each node that detects a motion will apply a recognition algorithm to part of the input gesture, then share its data with all other motion nodes. Next, we show that a hybrid algorithm that distributes both computation and template storage can address trade-offs between memory and computational efficiency.
We present an algorithm, analysis, and implementation of a six-channel range and bearing system for swarm robot systems with sizes in the order of centimeters. The proposed approach relies on a custom sensor and receiver model, and collection of intensity signals from all possible sensor/emitter pairs. This allows us to improve range calculation by accounting for orientationdependent variations in the transmitted intensity, as well as to determine the orientation of the emitting robot. We show how the algorithm and analysis generalize to other range and bearing systems, and evaluate its performance experimentally using two ping-pong ball-sized "Droplets" mounted on a precise gantry system.
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