Mobile Communications Engineering
Mobile Communications Engineering
Event-Based Motion Control for Mobile-Sensor Networks
IEEE Pervasive Computing
A general algorithm for approximate inference and its application to hybrid bayes nets
UAI'99 Proceedings of the Fifteenth conference on Uncertainty in artificial intelligence
Relative location estimation in wireless sensor networks
IEEE Transactions on Signal Processing
Toward self-organized mobile ad hoc networks: the terminodes project
IEEE Communications Magazine
Nonparametric belief propagation for self-localization of sensor networks
IEEE Journal on Selected Areas in Communications
EURASIP Journal on Advances in Signal Processing - Special issue on signal processing advances in robots and autonomy
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Wirelessly networked robots having unknown locations and different individual heading directions cannot accomplish a unified task as a group. Therefore, it is necessary to generate a set of common coordinates among them and to notify each robot of its heading direction in the generated common coordinates. However, when the robots are not equipped with sensors to identify their locations or bearings, we can use only a function in wireless communication protocol to network them as a tool to generate a set of common coordinates among them. The present paper proposes a set of common coordinates and a heading direction generation method for wirelessly networked robots with only ranging capability, which is supported in wireless communication protocol. We explain the principle of the proposed method and show some computer simulation results on the location and direction estimation errors. Finally, we outline our prototype wirelessly networked robots system to experimentally evaluate the proposed method.