Paper Info
Title
Verification Of Acoustic-Wave-Oriented Simple State Estimation And Application To Swarm Navigation
Abstract
Cooperative swarming behavior of multiple robots is advantageous for various disaster response activities, such as search and rescue. This study proposes an idea of communication of information between swarm robots, especially for estimating the orientation and direction of each robot, to realize decentralized group behavior. Unlike the conventional camera-based systems, we developed robots equipped with a speaker array system and a microphone system to utilize the time difference of arrival (TDoA). Sound waves outputted by each robot was used to estimate the relative direction and orientation. In addition, we attempt to utilize two characteristics of sound waves in our experiments, namely, diffraction and superposition. This paper also investigates the accuracy of state estimation in cases where the robots output sounds simultaneously and are not visible to each other. Finally, we applied our method to achieve behavioral control of a swarmof five robots, and demonstrated that the leader robot and follower robots exhibit good alignment behavior. Our methodology is useful in scenarios where steps or obstacles are present, in which cases camerabased systems are rendered unusable because they require each robot to be visible to each other in order to collect or share information. Furthermore, camerabased systems require expensive devices and necessitate high-speed image processing. Moreover, our method is applicable for behavioral control of swarm robots in water.
Year
DOI
Venue
2021
10.20965/jrm.2021.p0119
JOURNAL OF ROBOTICS AND MECHATRONICS
Keywords
DocType
Volume
acoustic-wave-oriented state estimation, orientation/direction, estimation, swarm navigation, time difference of sound arrival
Journal
33
Issue
ISSN
Citations 
1
0915-3942
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Tomoha Kida100.34
Yuichiro Sueoka224.84
Hiro Shigeyoshi300.34
Yusuke Tsunoda400.68
Yasuhiro Sugimoto502.03
Koichi Osuka613242.74