使用成对机器人分散化搜索多个未知瞬时射电源

doi:10.15302/J-ENG-2015010

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工程（英文） ›› 2015, Vol. 1 ›› Issue (1) : 58-65. DOI: 10.15302/J-ENG-2015010

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使用成对机器人分散化搜索多个未知瞬时射电源

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Decentralized Searching of Multiple Unknown and Transient Radio Sources with Paired Robots

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Abstract

In this paper, we develop a decentralized algorithm to coordinate a group of mobile robots to search for unknown and transient radio sources. In addition to limited mobility and ranges of communication and sensing, the robot team has to deal with challenges from signal source anonymity, short transmission duration, and variable transmission power. We propose a two-step approach: First, we decentralize belief functions that robots use to track source locations using checkpoint-based synchronization, and second, we propose a decentralized planning strategy to coordinate robots to ensure the existence of checkpoints. We analyze memory usage, data amount in communication, and searching time for the proposed algorithm. We have implemented the proposed algorithm and compared it with two heuristics. The experimental results show that our algorithm successfully trades a modest amount of memory for the fastest searching time among the three methods.

Keywords

wireless localization / networked robots / transient targets

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. . Engineering. 2015, 1(1): 58-65 https://doi.org/10.15302/J-ENG-2015010

参考文献

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Acknowledgements

We would like to thank M. Hielsberg, J. Lee, C. Chou, H. Cheng, X. Wang, M. Treat, R. Liu and B. Chen for their inputs on this work and contributions to the Networked Robots Lab at Texas A&M University.

This work was supported in part by the National Science Foundation (IIS1318638 and IIS1426752), and by the Shenzhen Science and Technology Project (ZDS Y20120617113312191).

Compliance with ethics guidelines

Chang-Young Kim, Dezhen Song, Jingang Yi, and Xinyu Wu declare that they have no conflict of interest or financial conflicts to disclose.

基金

This work was supported in part by the National Science Foundation (IIS1318638 and IIS1426752), and by the Shenzhen Science and Technology Project (ZDS Y20120617113312191).()