Abstract
The mobile rescue robots are desired to be remotely operated through wireless networks to transmit various data. However, communication infrastructure is not always available in disaster field. So it is necessary to construct a self-organized network such as multi-hop ad-hoc networks. The throughput of wireless communication becomes optimized by equalizing it among each node. This equalization is realized by implementing virtual forces which act on each robot. The force is controlled based on the relative location of each robot and the location is estimated by applying SLAM method using integrated map generated by multi-robots. Simulation and experimental results to evaluate the proposed method are also shown.
| Original language | English |
|---|---|
| Title of host publication | 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1111-1114 |
| Number of pages | 4 |
| ISBN (Print) | 9784907764487 |
| DOIs | |
| Publication status | Published - 2015 Sep 30 |
| Event | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China Duration: 2015 Jul 28 → 2015 Jul 30 |
Other
| Other | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
|---|---|
| Country | China |
| City | Hangzhou |
| Period | 15/7/28 → 15/7/30 |
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Keywords
- Deployment control
- Localization
- Rescue robot
- RSSI
- Wireless network
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Deployment of wireless-relay robots with localization by integrated map. / Uchimura, Yutaka; Yamaji, Satomi.
2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1111-1114 7285475.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Deployment of wireless-relay robots with localization by integrated map
AU - Uchimura, Yutaka
AU - Yamaji, Satomi
PY - 2015/9/30
Y1 - 2015/9/30
N2 - The mobile rescue robots are desired to be remotely operated through wireless networks to transmit various data. However, communication infrastructure is not always available in disaster field. So it is necessary to construct a self-organized network such as multi-hop ad-hoc networks. The throughput of wireless communication becomes optimized by equalizing it among each node. This equalization is realized by implementing virtual forces which act on each robot. The force is controlled based on the relative location of each robot and the location is estimated by applying SLAM method using integrated map generated by multi-robots. Simulation and experimental results to evaluate the proposed method are also shown.
AB - The mobile rescue robots are desired to be remotely operated through wireless networks to transmit various data. However, communication infrastructure is not always available in disaster field. So it is necessary to construct a self-organized network such as multi-hop ad-hoc networks. The throughput of wireless communication becomes optimized by equalizing it among each node. This equalization is realized by implementing virtual forces which act on each robot. The force is controlled based on the relative location of each robot and the location is estimated by applying SLAM method using integrated map generated by multi-robots. Simulation and experimental results to evaluate the proposed method are also shown.
KW - Deployment control
KW - Localization
KW - Rescue robot
KW - RSSI
KW - Wireless network
UR - http://www.scopus.com/inward/record.url?scp=84960103271&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84960103271&partnerID=8YFLogxK
U2 - 10.1109/SICE.2015.7285475
DO - 10.1109/SICE.2015.7285475
M3 - Conference contribution
AN - SCOPUS:84960103271
SN - 9784907764487
SP - 1111
EP - 1114
BT - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PB - Institute of Electrical and Electronics Engineers Inc.
ER -