ETRI Journal

Electronics and Telecommunications Research Institute (한국전자통신연구원)
권호 표지
DOI QR코드

DOI QR Code

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

  • Lee, Chang-Eun (IT Convergence Technology Research Laboratory, ETRI) ;
  • Im, Hyun-Ja (IT Convergence Technology Research Laboratory, ETRI) ;
  • Lim, Jeong-Min (Department of Information and Communication Engineering, Chungnam National University) ;
  • Cho, Young-Jo (IT Convergence Technology Research Laboratory, ETRI) ;
  • Sung, Tae-Kyung (Department of Information and Communication Engineering, Chungnam National University)
  • Received : 2014.08.10
  • Accepted : 2014.12.26
  • Published : 2015.04.01
Download PDF
⟨ Previous Next ⟩

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.

Keywords

References

  1. J. Fink, A. Ribeiro, and V. Kumar, "Robust Control of Mobility and Communications in Autonomous Robot Teams," IEEE Access, vol. 1, May 2013, pp. 290-309. https://doi.org/10.1109/ACCESS.2013.2262013
  2. J. Fink and V. Kumar, "Online Methods for Radio Signal Mapping with Mobile Robots," IEEE Int. Conf. Robot. Autom., Anchorage, AK, USA, May 3-7, 2010, pp. 1940-1945.
  3. M. McClure, D. Corbett, and D. Gage, "The DARPA LANdroids Program," Soc. Photographic Instrum. Eng., Orlando, FL, USA, vol. 7332, Apr. 2009.
  4. L. Sabattini, N. Chopra, and C. Secchi, "Decentralized Connectivity Maintenance for Cooperative Control of Mobile Robotic Systems," Int. J. Robot. Res., vol. 32, no. 12, Oct. 2013, pp. 1411-1423. https://doi.org/10.1177/0278364913499085
  5. S. Zickler and M. Veloso, "RSS-Based Localization and Tethering for Moving Robots in Unknown Environments," IEEE Int. Conf. Robot. Autom., Anchorage, AK, USA, May 3-7, 2010, pp. 5466-5471.
  6. M.M. Zavlanos, M.B. Egerstedt, and G.J. Pappas, "Graph-Theoretic Connectivity Control of Mobile Robot Networks," Proc. IEEE, vol. 99, no. 9, Sept. 2011, pp. 1525-1540. https://doi.org/10.1109/JPROC.2011.2157884
  7. N. Bezzo et al., "A Decentralized Connectivity Strategy for Mobile Router Swarms," World Congress Int. Federation Autom. Contr., Milano, Italy, Aug. 28-Sept. 2, 2011, pp. 4501-4506.
  8. M. Efatmaneshnik et al., "A Cooperative Positioning Algorithm for DSRC Enabled Vehicular Networks," Archives Photogrammetry, Cartography Remove Sens., vol. 22, 2001, pp. 117-129.
  9. R. Parker and S. Valaee, "Vehicular Node Localization Using Received-Signal-Strength Indicator," IEEE Trans. Veh. Technol., vol. 56, no. 6, Nov. 2007, pp. 3371-3380. https://doi.org/10.1109/TVT.2007.907687
  10. R. Kurazume and S. Hirose, "Study on Cooperative Positioning System - Optimum Moving Strategies for CPS-III," IEEE Int. Conf. Robot. Autom., Leuven, Belgium, May 16-20, 1998, pp. 2896-2903.
  11. C. Jang et al., "OPRoS: A New Component-Based Robot Software Platform," ETRI J., vol. 32, no. 5, Oct. 2010, pp. 646-656. https://doi.org/10.4218/etrij.10.1510.0138
  12. H. Long et al., "Distributed Extended Kalman Filter Based on Consensus Filter for Wireless Sensor Network," Intell. Contr. Autom., Beijing, China, July 6-8, 2012, pp. 4315-4319.
  13. C.M. Bishop, "Pattern Recognition and Machine Learning," vol. 4, no. 4, New York, USA: Springer, 2006.
  14. Texas Instruments, CC2520 DATASHEET, 2007. Accessed Feb. 25, 2014. http://www.ti.com/lit/ds/symlink/cc2520.pdf

Cited by

  1. Leader-Following Formation Control of Multiple Robots with Uncertainties through Sliding Mode and Nonlinear Disturbance Observer vol.38, pp.5, 2015, https://doi.org/10.4218/etrij.16.0116.0048
  2. TWR 기반 고정밀 측위를 위한 단일 이상측정치 제거 기술 vol.12, pp.3, 2015, https://doi.org/10.7746/jkros.2017.12.3.350
  3. Event based distributed kalman filter for limited resource multirobot cooperative localization vol.21, pp.4, 2015, https://doi.org/10.1002/asjc.2141
  4. Aerial and Ground Robot Collaboration for Autonomous Mapping in Search and Rescue Missions vol.4, pp.4, 2020, https://doi.org/10.3390/drones4040079