DocumentCode :
2177873
Title :
CoCoA: Coordinated Cooperative Localization for Mobile Multi-Robot Ad Hoc Networks
Author :
Koutsonikolas, Dimitrios ; Das, Saumitra M. ; Hu, Y. Charlie ; Lu, Yung-Hsiang ; Lee, C. S George
Author_Institution :
Purdue University, USA
fYear :
2006
fDate :
04-07 July 2006
Firstpage :
9
Lastpage :
9
Abstract :
Mobile robot teams are particularly suited to applications where infrastructure is unavailable or damaged since they can be used to quickly form an infrastructure-less mobile ad hoc network performing tasks in a distributed manner. In such deployment scenarios, localization of individual robots is essential for enabling many applications. In this paper, we propose CoCoA, Coordinated Cooperative localization for mobile multi-robot Ad Hoc Networks, that is low-cost, quickly deployable, energy-efficient, and provides reasonable accuracy for the applications. In CoCoA, only a subset of the robots in the mobile robot team are equipped with external localization devices (e.g. GPS, laser rangers, vision sensors). Subsequently, while robots perform their tasks, they cooperate to help localize each other without requiring static landmarks to be deployed. In addition, CoCoA coordinates the localization operations of robots to reduce energy consumption. Using detailed simulations and localization models calibrated from experimental data, we find that CoCoA is effective in reducing energy consumption while providing good localization accuracy.
Keywords :
Ad hoc networks; Costs; Distributed computing; Energy consumption; Global Positioning System; Mobile communication; Mobile robots; Radio frequency; Robot kinematics; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Distributed Computing Systems Workshops, 2006. ICDCS Workshops 2006. 26th IEEE International Conference on
ISSN :
1545-0678
Print_ISBN :
0-7695-2541-5
Type :
conf
DOI :
10.1109/ICDCSW.2006.30
Filename :
1648898
Link To Document :
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