Deployment of wireless-relay robots with localization by integrated map

Yutaka Uchimura; Satomi Yamaji

doi:10.1109/SICE.2015.7285475

Deployment of wireless-relay robots with localization by integrated map

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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	https://doi.org/10.1109/SICE.2015.7285475
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

Keywords

Deployment control
Localization
Rescue robot
RSSI
Wireless network

ASJC Scopus subject areas

Control and Systems Engineering

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10.1109/SICE.2015.7285475

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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

Uchimura, Y & Yamaji, S 2015, Deployment of wireless-relay robots with localization by integrated map. in 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015., 7285475, Institute of Electrical and Electronics Engineers Inc., pp. 1111-1114, 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, Hangzhou, China, 15/7/28. https://doi.org/10.1109/SICE.2015.7285475

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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.",

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Deployment of wireless-relay robots with localization by integrated map

Abstract

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Keywords

ASJC Scopus subject areas

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