Robot-assisted target localization using a cooperative scheme relying on wireless sensor networks

Athanasia Panousopoulou; Efthymios Kolyvas; Yannis Koveos; Anthony Tzes; John Lygeros

doi:10.1109/cdc.2006.376781

Robot-assisted target localization using a cooperative scheme relying on wireless sensor networks

Athanasia Panousopoulou, Efthymios Kolyvas, Yannis Koveos, Anthony Tzes, John Lygeros

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this article, a control/communication scheme for mobile robots operating in an uncertain environment in a target localization problem is considered. These robots need to exchange information with a base station via a mobile ad-hoc wireless network. This network is composed of both stationary and mobile nodes. Experimental results indicate a significant deterioration of the robot performance when the network is congested and the RF-signal strength is low resulting in loss of packets. Primitive, yet reliable cooperative schemes are evaluated in a target acquisition problem and experimental results are offered to validate the efficacy of the suggested scheme.

Original language	English (US)
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1031-1036
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.376781
State	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: Dec 13 2006 → Dec 15 2006

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	45th IEEE Conference on Decision and Control 2006, CDC
Country/Territory	United States
City	San Diego, CA
Period	12/13/06 → 12/15/06

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/cdc.2006.376781

Cite this

Panousopoulou, A., Kolyvas, E., Koveos, Y., Tzes, A., & Lygeros, J. (2006). Robot-assisted target localization using a cooperative scheme relying on wireless sensor networks. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 1031-1036). Article 4177924 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/cdc.2006.376781

Robot-assisted target localization using a cooperative scheme relying on wireless sensor networks. / Panousopoulou, Athanasia; Kolyvas, Efthymios; Koveos, Yannis et al.
Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. p. 1031-1036 4177924 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Panousopoulou, A, Kolyvas, E, Koveos, Y, Tzes, A & Lygeros, J 2006, Robot-assisted target localization using a cooperative scheme relying on wireless sensor networks. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177924, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 1031-1036, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 12/13/06. https://doi.org/10.1109/cdc.2006.376781

Panousopoulou A, Kolyvas E, Koveos Y, Tzes A, Lygeros J. Robot-assisted target localization using a cooperative scheme relying on wireless sensor networks. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc. 2006. p. 1031-1036. 4177924. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/cdc.2006.376781

Panousopoulou, Athanasia ; Kolyvas, Efthymios ; Koveos, Yannis et al. / Robot-assisted target localization using a cooperative scheme relying on wireless sensor networks. Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. Institute of Electrical and Electronics Engineers Inc., 2006. pp. 1031-1036 (Proceedings of the IEEE Conference on Decision and Control).

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AB - In this article, a control/communication scheme for mobile robots operating in an uncertain environment in a target localization problem is considered. These robots need to exchange information with a base station via a mobile ad-hoc wireless network. This network is composed of both stationary and mobile nodes. Experimental results indicate a significant deterioration of the robot performance when the network is congested and the RF-signal strength is low resulting in loss of packets. Primitive, yet reliable cooperative schemes are evaluated in a target acquisition problem and experimental results are offered to validate the efficacy of the suggested scheme.

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Robot-assisted target localization using a cooperative scheme relying on wireless sensor networks

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