NDLI: CoCoA: Coordinated Cooperative Localization for Mobile Multi-Robot Ad Hoc Networks

Content Provider	IEEE Xplore Digital Library
Author	Koutsonikolas, D. Das, S.M. Hu, Y.C. Yung-Hsiang Lu Lee, C.S.G.
Copyright Year	2006
Description	Author affiliation: Purdue University, USA (Koutsonikolas, D.)
Abstract	Mobile robot teams are particularly suited to applications where infrastructure is unavailable or damaged since they can be used to quickly form an infrastructure-less mobile ad hoc network performing tasks in a distributed manner. In such deployment scenarios, localization of individual robots is essential for enabling many applications. In this paper, we propose CoCoA, Coordinated Cooperative localization for mobile multi-robot Ad Hoc Networks, that is low-cost, quickly deployable, energy-efficient, and provides reasonable accuracy for the applications. In CoCoA, only a subset of the robots in the mobile robot team are equipped with external localization devices (e.g. GPS, laser rangers, vision sensors). Subsequently, while robots perform their tasks, they cooperate to help localize each other without requiring static landmarks to be deployed. In addition, CoCoA coordinates the localization operations of robots to reduce energy consumption. Using detailed simulations and localization models calibrated from experimental data, we find that CoCoA is effective in reducing energy consumption while providing good localization accuracy.
Starting Page	9
Ending Page	9
File Size	346552
Page Count	1
File Format	PDF
ISBN	0769525415
ISSN	15450678
DOI	10.1109/ICDCSW.2006.30
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-07-04
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Ad hoc networks Mobile robots Robot kinematics Robot sensing systems Costs Mobile communication Radio frequency Distributed computing Global Positioning System Energy consumption
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in