Advertisement

Coordinating Aerial Robots and Sensor Networks for Localization and Navigation

  • Peter Corke
  • Ron Peterson
  • Daniela Rus

Abstract

We consider multi-robot systems that include sensor nodes and aerial or ground robots networked together. We describe two cooperative algorithms that allow robots and sensors to enhance each other’s performance. In the first algorithm, an aerial robot assists the localization of the sensors. In the second algorithm, a localized sensor network controls the navigation of an aerial robot. We present physical experiments with a flying robot and a large Mica Mote sensor network.

Keywords

Sensor Network Reception Range Incoming Message Aerial Robot Guidance Algorithm 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    N. Bulusu, J. Heidemann, and D. Estrin. Adaptive beacom placement. In Proceedings of the 21st Conference on Distributed Computing Systems, Phoenix, AZ, 2001.Google Scholar
  2. 2.
    P. Corke, R. Peterson, and D. Rus. Networked robots: Flying robot navigation with a sensor net. In Proc. of the 2003 International Symposium on Robotics Research, Siena, Italy, 2003.Google Scholar
  3. 3.
    A. Galstyan, B. Krishnamachari, and K. Lerman. Distributed online localization in sensor networks using a moving target. submitted to 2003 acm senssys.Google Scholar
  4. 4.
    J. Hill, R. Szewczyk, A. Woo, S. Hollar, D. Culler, and K. Pister. System architecture directions for network sensors. In ASPLOS, 2000.Google Scholar
  5. 5.
    Jason Hill, Philip Bounadonna, and David Culler. Active message communication for tiny network sensors. In INFOCOM, 2001.Google Scholar
  6. 6.
    Qun Li, Michael de Rosa, and Daniela Rus. Distributed algorithms for guiding navigation across a sensor net. In Proceedings of MobiCom 2003, 2003.Google Scholar
  7. 7.
    Ron Peterson and Daniela Rus. Interacting with a sensor network. In Proceedings of the 2002 Australian Conference on Robotics and Automation, Auckland, NZ, November 2002.Google Scholar
  8. 8.
    S. Simic and S. Sastri. Distributed localization in wireless sensor networks, Available at citeseer.nj.nec.com/464015.html, 2002.Google Scholar

Copyright information

© Springer 2007

Authors and Affiliations

  • Peter Corke
    • 1
  • Ron Peterson
    • 2
  • Daniela Rus
    • 3
  1. 1.CSIRO ICTC CentreBrisbaneAustralia
  2. 2.Dartmouth Computer Science DepartmentHanoverUSA
  3. 3.Computer Science and Artificial Intelligence LabCambridge

Personalised recommendations