Abstract
We consider multi-robot systems that include sensor nodes and aerial or ground robots networked together. We describe two cooperative algorithms that allow robots and sensors to enhance each other’s performance. In the first algorithm, an aerial robot assists the localization of the sensors. In the second algorithm, a localized sensor network controls the navigation of an aerial robot. We present physical experiments with a flying robot and a large Mica Mote sensor network.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
N. Bulusu, J. Heidemann, and D. Estrin. Adaptive beacom placement. In Proceedings of the 21st Conference on Distributed Computing Systems, Phoenix, AZ, 2001.
P. Corke, R. Peterson, and D. Rus. Networked robots: Flying robot navigation with a sensor net. In Proc. of the 2003 International Symposium on Robotics Research, Siena, Italy, 2003.
A. Galstyan, B. Krishnamachari, and K. Lerman. Distributed online localization in sensor networks using a moving target. submitted to 2003 acm senssys.
J. Hill, R. Szewczyk, A. Woo, S. Hollar, D. Culler, and K. Pister. System architecture directions for network sensors. In ASPLOS, 2000.
Jason Hill, Philip Bounadonna, and David Culler. Active message communication for tiny network sensors. In INFOCOM, 2001.
Qun Li, Michael de Rosa, and Daniela Rus. Distributed algorithms for guiding navigation across a sensor net. In Proceedings of MobiCom 2003, 2003.
Ron Peterson and Daniela Rus. Interacting with a sensor network. In Proceedings of the 2002 Australian Conference on Robotics and Automation, Auckland, NZ, November 2002.
S. Simic and S. Sastri. Distributed localization in wireless sensor networks, Available at citeseer.nj.nec.com/464015.html, 2002.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer
About this paper
Cite this paper
Corke, P., Peterson, R., Rus, D. (2007). Coordinating Aerial Robots and Sensor Networks for Localization and Navigation. In: Alami, R., Chatila, R., Asama, H. (eds) Distributed Autonomous Robotic Systems 6. Springer, Tokyo. https://doi.org/10.1007/978-4-431-35873-2_29
Download citation
DOI: https://doi.org/10.1007/978-4-431-35873-2_29
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35869-5
Online ISBN: 978-4-431-35873-2
eBook Packages: EngineeringEngineering (R0)