A Method of Generating a Set of Common Coordinates for a Robot Swarm with Only Ranging Capability : Principles and Computer Simulations

概要

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For a group of wirelessly networked robots, called “a robot swarm,” to accomplish a unified task as a group, it is necessary to generate a set of common coordinates among all member robots and to notify each member robot of its heading direction in the generated common coordinates. However, when the member robots are not equipped with sensors to identify their locations or bearings, they can use only a ranging capability based in the wireless communication protocol being used to network them as a tool to generate a set of common coordinates among them. This paper presents the detailed principles of a method for generating a set of common coordinates/heading direction for a robot swarm with only ranging capability which we have proposed so far. After showing the theoretical Cramer-Rao lower-bound on the location estimation error variance, we demonstrate several computer simulation results for the proposed method with Received Signal Strength Indication (RSSI)-based ranging.
（社）電子情報通信学会の論文
2009-12-01