Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
The Cricket location-support system
MobiCom '00 Proceedings of the 6th annual international conference on Mobile computing and networking
Flooding for reliable multicast in multi-hop ad hoc networks
Wireless Networks
Distributed algorithms for guiding navigation across a sensor network
Proceedings of the 9th annual international conference on Mobile computing and networking
Broadband Ultrasonic Location Systems for Improved Indoor Positioning
IEEE Transactions on Mobile Computing
Selection and navigation of mobile sensor nodes using a sensor network
Pervasive and Mobile Computing
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In this paper, algorithms for navigating a mobile robot through wireless sensor networks are presented. The mobile robot can navigate without the need for a map, compass, or GPS module while interacting with neighboring sensor nodes. Two navigation algorithms are proposed in this paper: the first uses the distance between the mobile robot and each sensor node and the second uses the metric calculated from one-hop neighbors' hop-counts. Periodically measuring the distance or metric, the mobile robot can move toward a point where these values become smaller and finally come to reach the destination. These algorithms do not attempt to localize the mobile robot for navigation, therefore our approach permits cost-effective robot navigation while overcoming the limitations of traditional navigation algorithms. Through a number of experiments and simulations, the performance of the two proposed algorithms is evaluated.