Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Polynomial time approximation schemes for Euclidean traveling salesman and other geometric problems
Journal of the ACM (JACM)
Exploring artificial intelligence in the new millennium
Occupancy grids: a probabilistic framework for robot perception and navigation
Occupancy grids: a probabilistic framework for robot perception and navigation
Location Estimation in Ad Hoc Networks with Directional Antennas
ICDCS '05 Proceedings of the 25th IEEE International Conference on Distributed Computing Systems
Multi-robot mobility enhanced hop-count based localization in ad hoc networks
Robotics and Autonomous Systems
Wireless sensor network localization techniques
Computer Networks: The International Journal of Computer and Telecommunications Networking
Path planning of mobile landmarks for localization in wireless sensor networks
Computer Communications
Large-scale localization from wireless signal strength
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
MoteTrack: a robust, decentralized approach to RF-Based location tracking
LoCA'05 Proceedings of the First international conference on Location- and Context-Awareness
Hi-index | 0.00 |
We report our system and algorithm developments that enable a single mobile robot equipped with a directional antenna to simultaneously localize multiple unknown transient radio sources. Due to signal source anonymity, short transmission durations, and dynamic transmission patterns, the robot cannot treat the radio sources as continuous radio beacons. We model the radio source behaviors using a novel spatiotemporal probability occupancy grid (SPOG) that captures transient characteristics of radio transmissions and tracks the spatiotemporal posterior probability distribution of the radio transmissions. As a Monte Carlo method, we propose a ridge walking motion planning algorithm that enables the robot to efficiently traverse the high probability regions to accelerate the convergence of the posterior probability distribution. We have implemented the algorithms and the experiment results show that our method consistently outperforms methods such as a random walk or a fixed-route patrol mechanism.