Mobility assisted localization for robotic sensor networks
The accurate localization of sensor nodes in a mobile robotic sensor network is important in many surveillance applications. Based on our previous work in sensor localization, this paper introduces a mobility assisted localization approach guided by network rigidity for mobile robotic sensor networks. The rigidity test of a network is based on a pebble game algorithm, that decides whether the network is uniquely localizable or not. If its local network is not uniquely localizable, the mobile node circles around its original position to collect at least two extra ranging data with each of its neighbors while recording its trajectory using odometer. We prove that the extra data with robot trajectory will make the local network uniquely localizable. The local maps of all the nodes are then merged into a globally consistent map. We evaluate the effectiveness of the proposed approach using two examples of low-degree networks and four types of topologically different networks.
Changhua Wu Weihua Sheng Ying Zhang Saroja Kanc
Department of Computer Science at Kettering University,Flint,MI 48504 School of Electrical and Computer Engineering at Oklahoma State University,Stillwater,OK,74078 Palo Alto Research Center,3333 Coyote Hill Road,Palo Alto,CA 94304
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
544-549
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）