Seamless Routing and Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application

다국어 초록 (Multilingual Abstract)

In particular, for a practical mobile robot team to perform such a task as that of carrying out a search and rescue mission in a disaster area, the network connectivity and localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a Global Positioning System is unavailable. This paper proposes the new collective intelligence network management architecture of multiple mobile robots supporting seamless network connectivity and cooperative localization. The proposed architecture includes a resource manager that makes the robots move around and not disconnect from the network link by considering the strength of the network signal and link quality. The location manager in the architecture supports localizing robots seamlessly by finding the relative locations of the robots as they move from a global outdoor environment to a local indoor position. The proposed schemes assuring network connectivity and localization were validated through numerical simulations and applied to a search and rescue robot team.

참고문헌 (Reference)

1 R. Parker, "Vehicular Node Localization Using Received-Signal-Strength Indicator" 56 (56): 3371-3380, 2007

2 M. McClure, "The DARPA LANdroids Program" 7332 : 2009

3 R. Kurazume, "Study on Cooperative Positioning System – Optimum Moving Strategies for CPS-III" 2896-2903, 1998

4 J. Fink, "Robust Control of Mobility and Communications in Autonomous Robot Teams" 1 : 290-309, 2013

5 S. Zickler, "RSS-Based Localization and Tethering for Moving Robots in Unknown Environments" 5466-5471, 2010

6 C.M. Bishop, "Pattern Recognition and Machine Learning" Springer 4 (4): 2006

7 J. Fink, "Online Methods for Radio Signal Mapping with Mobile Robots" 1940-1945, 2010

8 Choulsoo Jang, "OPRoS: A New Component-Based Robot Software Platform" 한국전자통신연구원 32 (32): 646-656, 2010

9 M.M. Zavlanos, "Graph-Theoretic Connectivity Control of Mobile Robot Networks" 99 (99): 1525-1540, 2011

10 H. Long, "Distributed Extended Kalman Filter Based on Consensus Filter for Wireless Sensor Network" 4315-4319, 2012

11 L. Sabattini, "Decentralized Connectivity Maintenance for Cooperative Control of Mobile Robotic Systems" 32 (32): 1411-1423, 2013

12 Texas Instruments, "CC2520 DATASHEET"

13 N. Bezzo, "A Decentralized Connectivity Strategy for Mobile Router Swarms" 4501-4506, 2011

14 M. Efatmaneshnik, "A Cooperative Positioning Algorithm for DSRC Enabled Vehicular Networks" 22 : 117-129, 2001