Paper Info
Title
S-Mirror: Mirroring Sensing Signals for Mobile Robots in Indoor Environments
Abstract
Many mobile robots are expected to work for or interact with humans indoors in applications such as guided shopping, policing, and senior care. Mobile robots' sensors alone are insufficient in order to realize these applications, infrastructural support is needed. Existing support for mobile robots requires heavy or expensive infrastructures with limited scalability or deployment of unsightly lines or magnetic strips. This paper presents S-Mirror, a novel approach that "reflects" various ambient signals towards mobile robots, greatly extending their sensing abilities. S-Mirror forms a network of S-Mirror nodes that mainly reflect visual signals (as well as electronic and acoustic signals) to assist mobile robots. To illustrate the advantages of S-Mirror, we develop a localization approach for mobile robots that integrates S-Mirror and robots' on-board motion sensors. We implement S-Mirror and a mobile robot prototype on commercial off-the-shelf hardware. Our real-world experimental validation shows that S-Mirror achieves accurate timely localization with low network bandwidth consumption as well as robustness and scalability to many mobile robots.
Year
DOI
Venue
2016
10.1109/MSN.2016.055
2016 12th International Conference on Mobile Ad-Hoc and Sensor Networks (MSN)
Keywords
Field
DocType
S-Mirror,sensing signal mirroring,indoor environments,human interaction,mobile robot sensors,infrastructural support,ambient signal reflection,towards mobile robots,visual signal reflection,electronic signals,acoustic signals,localization approach,robot on-board motion sensors
Mobile computing,AISoy1,Computer science,Ant robotics,Robustness (computer science),Bandwidth (signal processing),Robot,Mobile robot,Scalability,Distributed computing
Conference
ISBN
Citations 
PageRank 
978-1-5090-5697-2
1
0.36
References 
Authors
8
9
Name
Order
Citations
PageRank
Qiang Zhai1142.87
Fan Yang210.70
Adam C. Champion31058.40
Chunyi Peng41503156.84
Junda Zhu5233.06
Dong Xuan61877119.45
Biao Chen710.70
Yuan F. Zheng81073283.25
Wei Zhao93532404.01