TY - GEN
T1 - Robot localization and energy-efficient wireless communications by multiple antennas
AU - Sun, Yi
AU - Xiao, Jizhong
AU - Cabrera-Mora, Flavio
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2009.5354260
DO - 10.1109/IROS.2009.5354260
M3 - Conference contribution
AN - SCOPUS:76249102380
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 377
EP - 381
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -