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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Chang-Young Kim Dezhen Song Jingang Yi |
| Copyright Year | 2013 |
| Description | Author affiliation: CSE Dept., Texas A&M Univ., College Station, TX, USA (Chang-Young Kim; Dezhen Song) || MAE Dept., Rutgers Univ., Piscataway, NJ, USA (Jingang Yi) |
| Abstract | We develop a decentralized algorithm to coordinate a group of mobile robots to search for unknown and transient radio sources. In addition to limited mobility and ranges of communication and sensing, the robot team has to deal with challenges from signal source anonymity, short transmission duration, and variable transmission power. We propose a two-step approach: first, we decentralize belief functions that robots use to track source locations using checkpoint-based synchronization, and second, we propose a decentralized planning strategy to coordinate robots to ensure the existence of checkpoints. We analyze memory usage, data amount in communication, and searching time for the proposed algorithm. We have implemented the proposed algorithm and compared it with two heuristics. The experiment results show that our algorithm successfully trades a modest amount of memory for the fastest searching time among the three methods. |
| Starting Page | 927 |
| Ending Page | 932 |
| File Size | 303091 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467356411 |
| ISSN | 10504729 |
| e-ISBN | 9781467356435 |
| DOI | 10.1109/ICRA.2013.6630684 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-05-06 |
| Publisher Place | Germany |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot sensing systems Robot kinematics Planning Synchronization Transient analysis |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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