Path planning in GPS-denied environments: A collective intelligence approach

Pritthi Chattopadhyay, Devesh K. Jha, Soumik Sarkar, Asok Ray

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    7 Scopus citations

    Abstract

    This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown environments. A mobile sensor network is used for localization of regions of interest for path planning of an autonomous mobile robot in the absence of global positioning facilities. The underlying theory is an extension of a generalized gossip algorithm that has been recently developed in a language-measure-theoretic setting. The gossip algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief for the target detected over the network. The proposed concept has been validated through numerical experiments with a mobile sensor network and a point mass robot.

    Original languageEnglish (US)
    Title of host publicationACC 2015 - 2015 American Control Conference
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages3082-3087
    Number of pages6
    Volume2015-July
    ISBN (Electronic)9781479986842
    DOIs
    Publication statusPublished - Jul 28 2015
    Event2015 American Control Conference, ACC 2015 - Chicago, United States
    Duration: Jul 1 2015Jul 3 2015

    Other

    Other2015 American Control Conference, ACC 2015
    CountryUnited States
    CityChicago
    Period7/1/157/3/15

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    All Science Journal Classification (ASJC) codes

    • Electrical and Electronic Engineering

    Cite this

    Chattopadhyay, P., Jha, D. K., Sarkar, S., & Ray, A. (2015). Path planning in GPS-denied environments: A collective intelligence approach. In ACC 2015 - 2015 American Control Conference (Vol. 2015-July, pp. 3082-3087). [7171806] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7171806