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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dezhen Song Chang-Young Kim Jingang Yi |
| Copyright Year | 2009 |
| Description | Author affiliation: MAE Department, Rutgers University, Piscataway, NJ 08854 USA (Jingang Yi) || CS Department, Texas A&M University, College Station, 77843, USA (Dezhen Song; Chang-Young Kim) |
| Abstract | We report our system and algorithm developments that enable a single mobile robot equipped with a directional antenna to simultaneously localize multiple unknown transient radio sources. Due to signal source anonymity, short transmission durations, and dynamic transmission patterns, the robot cannot treat the radio sources as continuous radio beacons.We model the radio source behaviors using a novel spatiotemporal probability occupancy grid (SPOG) that captures transient characteristics of radio transmissions and tracks the spatiotemporal posterior probability distribution of the radio transmissions. As a Monte Carlo method, we propose a ridge walking motion planning algorithm that enables the robot to efficiently traverse the high probability regions to accelerate the convergence of the posterior probability distribution. We have implemented the algorithms and the experiment results show that our method consistently outperforms methods such as a random walk or a fixed-route patrol mechanism. |
| Starting Page | 3154 |
| Ending Page | 3159 |
| File Size | 404945 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152557 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Monte Carlo methods Mobile robots Directional antennas Simultaneous localization and mapping Probability distribution Sensor phenomena and characterization Robot sensing systems Spatiotemporal phenomena Wireless sensor networks Legged locomotion |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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