The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
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The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
Pour qu'un groupe de robots en réseau sans fil, appelé « essaim de robots », puisse accomplir une tâche unifiée en tant que groupe, il est nécessaire de générer un ensemble de coordonnées communes entre tous les robots membres et d'informer chaque robot membre de sa direction de déplacement dans le généré des coordonnées communes. Cependant, lorsque les robots membres ne sont pas équipés de capteurs pour identifier leurs emplacements ou leurs relèvements, ils peuvent utiliser uniquement une capacité de télémétrie basée sur le protocole de communication sans fil utilisé pour les mettre en réseau en tant qu'outil permettant de générer un ensemble de coordonnées communes entre eux. Cet article présente les principes détaillés d'une méthode de génération d'un ensemble de coordonnées/direction de cap communes pour un essaim de robots avec uniquement une capacité de télémétrie que nous avons proposée jusqu'à présent. Après avoir montré la limite inférieure théorique de Cramer-Rao sur la variance de l'erreur d'estimation de localisation, nous démontrons plusieurs résultats de simulation informatique pour la méthode proposée avec une télémétrie basée sur l'indication de la force du signal reçu (RSSI).
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Tatsuya ISHIMOTO, Shinsuke HARA, "A Method of Generating a Set of Common Coordinates for a Robot Swarm with Only Ranging Capability -- Principles and Computer Simulations --" in IEICE TRANSACTIONS on Communications,
vol. E92-B, no. 12, pp. 3726-3735, December 2009, doi: 10.1587/transcom.E92.B.3726.
Abstract: For a group of wirelessly networked robots, called "a robot swarm," to accomplish a unified task as a group, it is necessary to generate a set of common coordinates among all member robots and to notify each member robot of its heading direction in the generated common coordinates. However, when the member robots are not equipped with sensors to identify their locations or bearings, they can use only a ranging capability based in the wireless communication protocol being used to network them as a tool to generate a set of common coordinates among them. This paper presents the detailed principles of a method for generating a set of common coordinates/heading direction for a robot swarm with only ranging capability which we have proposed so far. After showing the theoretical Cramer-Rao lower-bound on the location estimation error variance, we demonstrate several computer simulation results for the proposed method with Received Signal Strength Indication (RSSI)-based ranging.
URL: https://global.ieice.org/en_transactions/communications/10.1587/transcom.E92.B.3726/_p
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@ARTICLE{e92-b_12_3726,
author={Tatsuya ISHIMOTO, Shinsuke HARA, },
journal={IEICE TRANSACTIONS on Communications},
title={A Method of Generating a Set of Common Coordinates for a Robot Swarm with Only Ranging Capability -- Principles and Computer Simulations --},
year={2009},
volume={E92-B},
number={12},
pages={3726-3735},
abstract={For a group of wirelessly networked robots, called "a robot swarm," to accomplish a unified task as a group, it is necessary to generate a set of common coordinates among all member robots and to notify each member robot of its heading direction in the generated common coordinates. However, when the member robots are not equipped with sensors to identify their locations or bearings, they can use only a ranging capability based in the wireless communication protocol being used to network them as a tool to generate a set of common coordinates among them. This paper presents the detailed principles of a method for generating a set of common coordinates/heading direction for a robot swarm with only ranging capability which we have proposed so far. After showing the theoretical Cramer-Rao lower-bound on the location estimation error variance, we demonstrate several computer simulation results for the proposed method with Received Signal Strength Indication (RSSI)-based ranging.},
keywords={},
doi={10.1587/transcom.E92.B.3726},
ISSN={1745-1345},
month={December},}
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TY - JOUR
TI - A Method of Generating a Set of Common Coordinates for a Robot Swarm with Only Ranging Capability -- Principles and Computer Simulations --
T2 - IEICE TRANSACTIONS on Communications
SP - 3726
EP - 3735
AU - Tatsuya ISHIMOTO
AU - Shinsuke HARA
PY - 2009
DO - 10.1587/transcom.E92.B.3726
JO - IEICE TRANSACTIONS on Communications
SN - 1745-1345
VL - E92-B
IS - 12
JA - IEICE TRANSACTIONS on Communications
Y1 - December 2009
AB - For a group of wirelessly networked robots, called "a robot swarm," to accomplish a unified task as a group, it is necessary to generate a set of common coordinates among all member robots and to notify each member robot of its heading direction in the generated common coordinates. However, when the member robots are not equipped with sensors to identify their locations or bearings, they can use only a ranging capability based in the wireless communication protocol being used to network them as a tool to generate a set of common coordinates among them. This paper presents the detailed principles of a method for generating a set of common coordinates/heading direction for a robot swarm with only ranging capability which we have proposed so far. After showing the theoretical Cramer-Rao lower-bound on the location estimation error variance, we demonstrate several computer simulation results for the proposed method with Received Signal Strength Indication (RSSI)-based ranging.
ER -