Fault tolerant localization for teams of distributed robots

Tinós, Renato; Navarro-Serment, Luis E.; Paredis, Christiaan J. J.

doi:10.1109/iros.2001.976309

Cited by 17 publications

(10 citation statements)

References 16 publications

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“…In [8] is presented a module consisting of an ultrasonic transducer with two functions: emitter and receiver. The transducer is positioned to face straight up and all incoming and outgoing ultrasonic waves are reflected by an acoustic reflector cone.…”

Section: B Modules With Only One Transducer and An Acoustic Reflectomentioning

confidence: 99%

Relative positioning system using Inter-Robot Ultrasonic Localization Turret

Stancovici

Micea

Creţu

et al. 2014

2014 IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Proceedings

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This paper focuses on the problem of relative localization system in collaborative environments based on our previous proposed relative localization methodology. We propose a low cost hardware module to achieve a relative positioning system used in research scope to develop some methods, techniques and algorithms in Multi Mobile Autonomous Robotic Systems (2MARS) applications. We discuss about existing hardware modules in literature by showing some constraints. We present some important design aspects of our proposed relative positioning system using the low cost hardware module: InterRobot Ultrasonic Localization Turret (IRULT).

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Section: B Modules With Only One Transducer and An Acoustic Reflectomentioning

confidence: 99%

Relative positioning system using Inter-Robot Ultrasonic Localization Turret

Stancovici

Micea

Creţu

et al. 2014

2014 IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Proceedings

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“…The series of small circles moving from left to upper right indicates the trajectory of the optimal camera position, if a single camera were used to observe the two objects simultaneously for the duration of the experiment. This optimal position is computed using (5). As shown in the top plot of Fig.…”

Section: Simulationsmentioning

confidence: 99%

“…A maximum likelihood algorithm determines the most likely position of the robot given the measured distances to the current beacons. Assuming that the dead reckoning and distance measurements are normally distributed random variables, the likelihood of being located at a position (x,y) is given by ( ) ( ) ( The problem of fault tolerant localization for the Millibots is addressed in [5]. This work focuses on detecting and isolating measurement faults that commonly occur in this localization system.…”

Section: A the Millibots And The Localization Systemmentioning

confidence: 99%

Optimal sensor placement for cooperative distributed vision

Navarro-Serment

Dolan²,

Khosla

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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Abstract-This paper describes a method for observing maneuvering targets using a group of mobile robots equipped with video cameras. These robots are part of a team of small-size (7x7x7 cm) robots configured from modular components that collaborate to accomplish a given task. The cameras seek to observe the target while facing it as much as possible from their respective viewpoints. This work considers the problem of scheduling and maneuvering the cameras based on the evaluation of their current positions in terms of how well can they maintain a frontal view of the target. We describe our approach, which distributes the task among several robots and avoids extensive energy consumption on a single robot. We explore the concept in simulation and present results.

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“…The approach taken by GPS, however, is unsuitable for lowcost, ad-hoc sensor networks since GPS is based on extensive infrastructure. Likewise solutions develop in the area of robotic [3,4,5] and ubiquitous computing [2] are generally not applicable for sensor networks as they require too much processing power and energy.…”

Section: Introductionmentioning

confidence: 99%

RDV-hop localization algorithm for randomly deployed wireless sensor networks

Song

Tam

Xue

et al. 2014

International Conference on Software Intelligence Technologies and Applications &Amp; International Conference on Frontiers of

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Accurate location estimation is very important in WSNs, for a number of applications' requirement. Due to the hardware limitation in WSN devices, range-free schemes are more appropriate for WSNs than rage-based schemes. A novel localization algorithm, RDV-hop localization algorithm, is proposed in this paper. The reason leading to error in original DV-hop has been analyzed and the refinement has been done. We also replace the ML localization algorithm with Hyperbolic location algorithm with better performance results. Simulations have been conducted to prove that RDV-hop performs more accurately than DV-hop, and the accuracy is improved by 24.9% on average.

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Fault tolerant localization for teams of distributed robots

Abstract: Abstract

Cited by 17 publications

References 16 publications

Relative positioning system using Inter-Robot Ultrasonic Localization Turret

Relative positioning system using Inter-Robot Ultrasonic Localization Turret

Optimal sensor placement for cooperative distributed vision

RDV-hop localization algorithm for randomly deployed wireless sensor networks

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