Sensor Network and Robot Interaction Using Coarse Localization

Rapid advances in the field of sensing and sensor networks are opening the door to many new possibilities. One of the main challenges is the localization of the sensor nodes. In this paper we discuss the issue of localization in the context of sensor network assisted telerobotics. The sensor network is used to feedback information to the robot or remote operator to be used to efficiently and safely navigate. We show that coarse localization results in comparable performance to accurate and fine localization. This finding relaxes the requirement from localization algorithms and would open the door to a new class of reduced complexity and reduced overhead localization algorithms. Experimental results are provided to highlight the concepts developed and compare performance