Paper Info
Title
RSS-based relative localization and tethering for moving robots in unknown environments
Abstract
The LANdroids project requires robots to autonomously localize, track, and follow (a task also known as tethering) other robots or humans in an unknown environment with limited sensing abilities. In this paper, we present a localization and tethering approach that relies solely on wireless signal strength and robot odometry without requiring any known reference points in the domain. We introduce a data-driven, probabilistic model that maps received signal strength (RSS) values to real-world distance distributions and embed this model in a grid-based localization algorithm that successfully performs the LANdroids tethering task. We furthermore show, that it is possible to improve localization through the addition of a compass sensor and inter-robot information sharing.
Year
DOI
Venue
2010
10.1109/ROBOT.2010.5509975
Robotics and Automation
Keywords
Field
DocType
mobile robots,path planning,LANdroids project,grid-based localization algorithm,interrobot information sharing,limited sensing abilities,moving robot tethering,received signal strength,robot odometry,wireless signal strength
Motion planning,Computer vision,Compass,Tethering,Odometry,Artificial intelligence,Probabilistic logic,Engineering,Robot,RSS,Mobile robot
Conference
Volume
Issue
ISSN
2010
1
1050-4729 E-ISBN : 978-1-4244-5040-4
ISBN
Citations 
PageRank 
978-1-4244-5040-4
18
1.35
References 
Authors
7
2
Name
Order
Citations
PageRank
Stefan Zickler1181.35
Manuela Veloso28563882.50