Passive mobile robot localization within a fixed beacon field

Carrick Detweiler, John Leonard, Daniela Rus, Seth Teller

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundation of Robotics VII - Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics
Pages425-440
Number of pages16
DOIs
StatePublished - 2008
Externally publishedYes
Event7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006 - New York, NY, United States
Duration: Jul 16 2006Jul 18 2006

Publication series

NameSpringer Tracts in Advanced Robotics
Volume47
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Conference

Conference7th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006
Country/TerritoryUnited States
CityNew York, NY
Period7/16/067/18/06

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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