NDLI: Multi-sensor ATTenuation Estimation (MATTE): Signal-strength prediction for teams of robots

Content Provider	IEEE Xplore Digital Library
Author	Strom, J. Olson, E.
Copyright Year	2012
Description	Author affiliation: Department of Computer Science and Engineering, University of Michigan, Ann Arbor, 48109 USA (Strom, J.; Olson, E.)
Abstract	Multi-robot teams are often constrained by communications; better signal-strength models enable more efficient coordination while still maintaining adequate communication. This work discusses several prediction algorithms applicable to this scenario. Whereas previous approaches typically focus on prediction in the presence of deployed base-stations, we consider the more general problem where all nodes in the network can be mobile. Our new algorithm, Multi-sensor ATTenuation Estimation (MATTE), addresses this problem by leveraging other forms of sensor data in combination with signal-strength measurements to infer the locations of attenuating materials in the robots' environment. We also extend prior tomographic and correlation-based approaches to the multi-robot case, allowing a competitive evaluation. All methods are evaluated on a large corpus of real-world indoor and outdoor environments.
Starting Page	4730
Ending Page	4736
File Size	563730
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385472
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Attenuation Tomography Shadow mapping Training Robot kinematics Prediction algorithms
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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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
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