NDLI: A Fast Onboard Relative Positioning Module for Multirobot Systems

Content Provider	IEEE Xplore Digital Library
Author	Pugh, J. Raemy, X. Favre, C. Falconi, R. Martinoli, A.
Copyright Year	1996
Abstract	We present an onboard robotic module that can determine relative positions among miniature robots. The module uses high-frequency-modulated infrared emissions to enable nearby robots to determine the range, bearing, and message of the sender with a rapid update rate. A carrier sense multiple access protocol is employed for scalable operation. We describe a technique for calculating the range and bearing between robots, which can be generalized for use with more sophisticated relative positioning systems. Using this method, we characterize the accuracy of positioning between robots and identify different sources of imprecision. Finally, the utility of this module is clearly demonstrated with several robotic formation experiments, where precise multirobot formations are maintained throughout difficult maneuvers.
Starting Page	151
Ending Page	162
Page Count	12
File Size	728022
File Format	PDF
ISSN	10834435
Volume Number	14
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-04-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Multirobot systems Robot kinematics Robot sensing systems Mechatronics Mobile robots Laboratories Access protocols Indoor environments Monitoring Cameras positioning systems Control systems mechatronics mobile robots
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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