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 proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1031-1036
Number of pages6
ISBN (Print)1424401712, 9781424401710
DOIs
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • 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). [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