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Volume 24 Issue 9 - Publication Date: 1 September 2005
Special Issue on the 11th International Symposium on Robotics Research
 
Localization and Navigation Assisted by Networked Cooperating Sensors and Robots
 
P. Corke CSIRO ICT Centre, Australia, R. Peterson Dartmouth Computer Science Department and The Institute for Security Technology Studies (ISTS) at Dartmouth College Hanover, NH 03755, USA, and D. Rus Computer Science and Artificial Intelligence Lab, Massachusetts Institute of Technology (MIT), Cambridge, MA 02139, USA
 
In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation.We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space.We explore these novel ideas with results from two large-scale sensor network and robot experiments involving 50 motes, two types of flying robot: an autonomous helicopter and a large indoor cable array robot, and a human–network interface. We present the distributed algorithms for localization, geographic routing, path definition and incremental navigation.We also describe how a human can be guided using a simple hand-held device that interfaces to this same environmental infrastructure.
 
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Example One: Network assisted navigation. (3.5 MB)
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Example Two: Monte Carlo simulator. (5 kb)
 
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