Title :
STAM: a system of tracking and mapping in real environments
Author :
Zhang, Ying ; Ackerson, Lee ; Duff, David ; Eldershaw, Craig ; Yim, Mark
Author_Institution :
Palo Alto Res. Center, CA, USA
Abstract :
We have implemented a system of tracking mobile robots and mapping an unstructured environment, using up to 25 wireless sensor nodes in an indoor setting. These sensor nodes form an ad hoc network of beacons, self-localize with respect to three anchor nodes, and then track the locations of mobile robots in the field. The system described here was motivated by search and rescue applications, and has been demonstrated in real physical environments.
Keywords :
ad hoc networks; indoor radio; mobile robots; wireless sensor networks; ad hoc network; indoor setting; mobile robot; system of tracking and mapping; wireless sensor node; Laser modes; Laser radar; Mobile robots; Orbital robotics; Radar tracking; Robot sensing systems; Sensor arrays; Sensor systems; Simultaneous localization and mapping; Wireless sensor networks;
Journal_Title :
Wireless Communications, IEEE
DOI :
10.1109/MWC.2004.1368901
