NDLI: Evaluation of a large scale pervasive embedded network for robot path planning

Content Provider	IEEE Xplore Digital Library
Author	O'Hara, K.J. Bigio, V. Whitt, S. Walker, D. Balch, T.
Copyright Year	2006
Description	Author affiliation: Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA (O'Hara, K.J.; Bigio, V.; Whitt, S.; Walker, D.; Balch, T.)
Abstract	We investigate a technique that uses an embedded network deployed pervasively throughout an environment to aid robots in navigation. First, we show that the path computed by the network is useful for a simple mobile robot. The robot uses a network of 156 nodes to navigate through a complex, dynamic, environment. This is the largest embedded network used for navigation we are aware of. In our approach, the network nodes do not need to know their absolute or relative positions and the mobile robots do not build any kind of map. Second, the impact of specific network deployments on path quality is examined. Two types of arrangements, hexagonal and rectangular, in two different environments are considered. We present quantitative results collected from a real-world embedded network of 60 nodes. Experimentally, we find that on average, the path computed by the network is only 24% longer than the optimal path. Also, we find a slight advantage for the hexagonal arrangement
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	2072
Ending Page	2077
File Size	1349585
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642010
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Large-scale systems Path planning Navigation Robot kinematics Computer networks Mobile robots Pervasive computing Legged locomotion Embedded computing Mobile communication
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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
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