TY - GEN
T1 - Passive mobile robot localization within a fixed beacon field
AU - Detweiler, Carrick
AU - Leonard, John
AU - Rus, Daniela
AU - Teller, Seth
PY - 2008
Y1 - 2008
N2 - This paper describes an intuitive geometric algorithm for the localization of mobile nodes in networks of sensors and robots using range-only or angle-only measurements. The algorithm is a minimalistic approach to localization and tracking when dead reckoning is too inaccurate to be useful. The only knowledge required about the mobile node is its maximum speed. Geometric regions are formed and grown to account for the motion of the mobile node. New measurements introduce new constraints which are propagated back in time to refine previous localization regions. The mobile robots are passive listeners while the sensor nodes actively broadcast making the algorithm scalable to many mobile nodes while maintaining the privacy of individual nodes. We prove that the localization regions found are optimal-that is, they are the smallest regions which must contain the mobile node at that time. We prove that each new measurement requires quadratic time in the number of measurements to update the system, however, we demonstrate experimentally that this can be reduced to constant time.
AB - This paper describes an intuitive geometric algorithm for the localization of mobile nodes in networks of sensors and robots using range-only or angle-only measurements. The algorithm is a minimalistic approach to localization and tracking when dead reckoning is too inaccurate to be useful. The only knowledge required about the mobile node is its maximum speed. Geometric regions are formed and grown to account for the motion of the mobile node. New measurements introduce new constraints which are propagated back in time to refine previous localization regions. The mobile robots are passive listeners while the sensor nodes actively broadcast making the algorithm scalable to many mobile nodes while maintaining the privacy of individual nodes. We prove that the localization regions found are optimal-that is, they are the smallest regions which must contain the mobile node at that time. We prove that each new measurement requires quadratic time in the number of measurements to update the system, however, we demonstrate experimentally that this can be reduced to constant time.
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U2 - 10.1007/978-3-540-68405-3_27
DO - 10.1007/978-3-540-68405-3_27
M3 - Conference contribution
AN - SCOPUS:53949105864
SN - 9783540684046
T3 - Springer Tracts in Advanced Robotics
SP - 425
EP - 440
BT - Algorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics
T2 - 7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006
Y2 - 16 July 2006 through 18 July 2006
ER -