Abstract
We develop algorithms for estimation and control that allow a team of robots equipped with range sensors to localize an unknown target in a known but complex environment. We present an experimental model for radio-based time-of-flight range sensors. Adopting a Bayesian approach for estimation, we then develop a control law which maximizes the mutual information between the robot’s measurements and their current belief of the target position. We describe experimental results for a robot team localizing a stationary target in several representative indoor environments in which the unknown target is reliably localized with an error well below the typical error for individual measurements.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Cover, T.M., Thomas, J.A.: Elements of Information Theory. Wiley Online Library (2004)
Djugash, J., Singh, S.: Motion-aided network slam. In: Proc. of the Intl. Sym. on Exp. Robot., New Dehli and Agra, India (December 2010)
Djugash, J., Singh, S., Kantor, G., Zhang, W.: Range-only SLAM for robots operating cooperatively with sensor networks. In: Proc. of the IEEE Intl. Conf. on Robot. and Autom., Orlando, USA, pp. 2078–2084 (2006)
Grocholsky, B.: Information-theoretic control of multiple sensor platforms. PhD thesis, University of Sydney, Sydney, Australia (2002)
Hoffmann, G.M., Tomlin, C.J.: Mobile sensor network control using mutual information methods and particle filters. IEEE Trans. Autom. Control 55(1), 32–47 (2010)
Huber, M.F., Bailey, T., Durrant-Whyte, H., Hanebeck, U.D.: On entropy approximation for gaussian mixture random vectors. In: Multisensor Fusion and Integration for Intelligent Systems, Seoul, Korea, pp. 181–188 (2008)
Jourdan, D., Deyst, J., Win, M., Roy, N.: Monte carlo localization in dense multipath environments using UWB ranging. In: IEEE Intl. Conf. on Ultra-Wideband, Zurich, Switzerland, pp. 314–319 (September 2005)
Kantor, G., Singh, S.: Preliminary results in range-only localization and mapping. In: Proc. of the IEEE Intl. Conf. on Robot. and Autom., Washington, D.C., vol. 2, pp. 1818–1823 (2002)
Morelli, C., Nicole, M., Rampa, V., Spagnolini, U.: Hidden markov models for radio localization in mixed LOS/NLOS conditions. IEEE Trans. Signal Process. 55(4), 1525–1542 (2007)
nanoPAN 5375 Development Kit (February 2012), http://www.nanotron.com/EN/PR_tools.php#03
Olson, E., Leonard, J.J., Teller, S.: Robust range-only beacon localization. IEEE J. Oceanic Eng. 31(4), 949–958 (2006)
Patwari, N., Ash, J.N., Kyperountas, S., Hero III, A.O., Moses, R.L., Correal, N.S.: Locating the nodes: cooperative localization in wireless sensor networks. IEEE Signal Process. Mag. 22(4), 54–69 (2005)
Rappaport, T.S.: Wireless Communications: Principles and Practice. Prentice Hall (1996)
Robot Operating System (February 2012), http://www.ros.org/wiki/
RVO2 Library (February 2012), http://gamma.cs.unc.edu/RVO2/
Ryan, A., Hedrick, J.K.: Particle filter based information-theoretic active sensing. Robotics and Autonomous Systems 58(5), 574–584 (2010)
Sadler, B.M., Liu, N., Xu, Z., Kozick, R.: Range-based geolocation in fading environments. In: Allerton Conf. on Comm., Control, and Comput., Allerton House, USA, pp. 15–20 (2008)
Snape, J., van den Berg, J., Guy, S.J., Manocha, D.: Smooth and collision-free navigation for multiple robots under differential-drive constraints. In: Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., Anchorage, USA, pp. 4584–4589 (2010)
Spletzer, J., Taylor, C.J.: A bounded uncertainty approach to multi-robot localization. In: Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., Las Vegas, USA, vol. 2, pp. 1258–1265 (October 2003)
Stump, E., Kumar, V., Grocholsky, B., Shiroma, P.M.: Control for localization of targets using range-only sensors. Intl. J. Robot. Research 28(6), 743–757 (2009)
Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Charrow, B., Michael, N., Kumar, V. (2013). Cooperative Multi-robot Estimation and Control for Radio Source Localization. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_24
Download citation
DOI: https://doi.org/10.1007/978-3-319-00065-7_24
Publisher Name: Springer, Heidelberg
Print ISBN: 978-3-319-00064-0
Online ISBN: 978-3-319-00065-7
eBook Packages: EngineeringEngineering (R0)