Robot localization and energy-efficient wireless communications by multiple antennas

Yi Sun, Jizhong Xiao, Flavio Cabrera-Mora

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

9 Scopus citations

Abstract

Biologically-inspired swarm of robots with collaboration towards a common mission has a broad range of applications. However, the required dynamic localization among autonomous robots for such swarm collaboration, though usually implicitly assumed, has not been properly studied. In this paper, we address the roles of multiple antennas in localization and energy-efficient wireless communications for a swarm of robots. Following the gradient of signal powers along a trajectory, a robot can track the direction of a source robot. With three or more properly placed antennas that sense different phase shifts of carrier, a robot can localize a source. By lateration, three collaborative robots can localize a source with known distances to it. Via angulation technique, three robots can determine their geometric relationship with knowing two angles and one distance between them. The techniques can be extended from the 2-D to the 3-D space for application of wall-climbing robots. On the basis of knowledge of robot locations, beamforming techniques can be employed to receive and transmit signal towards the desired robot therefore improving energy efficiency and prolonging robot lifetime.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages377-381
Number of pages5
DOIs
Publication statusPublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Sun, Y., Xiao, J., & Cabrera-Mora, F. (2009). Robot localization and energy-efficient wireless communications by multiple antennas. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 377-381). [5354260] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354260