| Volume 24 Issue 9 - Publication Date: 1 September 2005 |
| Special Issue on the 11th International Symposium
on Robotics Research |
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| Localization and Navigation Assisted
by Networked Cooperating Sensors and Robots |
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| 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 |
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| 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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| Multimedia Key |
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Extension |
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Description |
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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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