Relative Localization Method of Multiple Micro Robots Based on Simple Sensors

Mei, Ling; Chen, Jiapin; Li, Zhenbo; Zhang, Dawei

doi:10.5772/55587

Cited by 15 publications

(14 citation statements)

References 21 publications

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“…59 However, such algorithms require either for the robots to be in motion (i.e. relocated) [60][61][62][63][64] or at least one robot to act as an anchor with known global coordinates. [65][66][67][68][69][70][71] Furthermore, there have been only a few studies showing the implementation of localization algorithms via physical robots and, even when they are, experiments have been restricted to two or three robots at most.…”

Section: Swarm-localization and Topology Estimationmentioning

confidence: 99%

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A high-performance millirobot for swarm-behaviour studies: Swarm-topology estimation

Kim

Kashino

Pineros

et al. 2019

International Journal of Advanced Robotic Systems

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In this article, we present a novel high-performance millirobot ( milli- robot- Toronto), designed to allow for the testing of complex swarm-behaviours, including human–swarm interaction. milli- robot- Toronto, built only with off-the-shelf components, has locomotion, processing and sensing capabilities that significantly improve upon existing designs, while maintaining one of the smallest footprints among current millirobots. As complementary software to this hardware development, herein, we also present a new global swarm-topology estimation algorithm. The method is novel in that it uniquely fuses incomplete location data collected by the individual robots in a distributed manner to optimally estimate the topology of the overall swarm using a centralized computer. It is a generalized technique usable by any swarm comprising robots capable of collecting location estimates of neighbouring robots. Numerous experiments, evaluating the performance of milli- robot- Toronto and the proposed optimal swarm-topology estimation algorithm, are also included.

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Section: Swarm-localization and Topology Estimationmentioning

confidence: 99%

“…In contrast, other millirobots of similar size, such as Alice II, 37 Jasmine 36 and TinyTeRP, 31 can only obtain proximity and bearing information by requiring their neighbours to move for triangulation. [60][61][62][63]65…”

Section: Overview Of University Of Toronto Milli-robot Designmentioning

confidence: 99%

A high-performance millirobot for swarm-behaviour studies: Swarm-topology estimation

Kim

Kashino

Pineros

et al. 2019

International Journal of Advanced Robotic Systems

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show abstract

“…Although the LEDs need to be reformed, the IR system [12][13][14] and VLC technology [15,16] have the advantages of a stable signal, fast response, high confidentiality of information, and they are less affected by environmental change. These characteristics are useful for the selflocalization of an indoor mobile robot and prompted us to use an IR system in this research to locate the indoor mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Indoor mobile robot self-localization based on a low-cost light system with a novel emitter arrangement

Wang

Takahashi

2018

Robomech J

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This paper proposes a low-cost infrared (IR) LED system with a novel arrangement that enables the self-localization of an indoor mobile robot. The proposed system uses only low-cost IR LED emitters installed on the ceiling of a building and low-cost IR receivers, each equipped with a photodiode, located on top of the mobile robot for detection. The IR LEDs, which are driven by an on-off keying modulator with various frequencies, are used as active landmarks. The mobile robot localizes itself based on the IR LED signals it receives. Although it would be desirable to assign a unique ID to each emitter, this would be difficult to realize because of the limited number of available frequencies and the production cost resulting from the use of independent microcontrollers. Therefore, we designed a novel landmark configuration consisting of an IR LED array with unique ID-encoding capabilities based on a combination of different frequencies and the repeated use of each ID encoding LED to address the problem of limited frequencies. The novel landmark arrangement reduces the costs associated with production, ID encoding, and computation. A Monte-Carlo localization method with a belief function is utilized to estimate the position and orientation of the mobile robot based on the decoded ID information and received signal strength. The proposed system was tested in a real environment and the experimental results confirmed the validity and accuracy of the system and method.

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“…However, these methods do not have high precision in short distance localization during MSNs recycling. Short-distance localization methods such as infrared [ 33 ], ultrasonic [ 34 ], RFID [ 35 ], and visual [ 36 ] based methods could be used to deal with this problem.…”

Section: Introductionmentioning

confidence: 99%

Relative Orientation and Position Detections Based on an RGB-D Sensor and Dynamic Cooperation Strategies for Jumping Sensor Nodes Recycling

Zhang

Yang

Song

et al. 2015

Sensors

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This paper presents relative orientation and position detection methods for jumping sensor nodes (JSNs) recycling. The methods are based on motion captures of the JSNs by an RGB-D sensor mounted on a carrier robot and the dynamic cooperation between the carrier and the JSNs. A disc-like label with two different colored sides is mounted on the top of the JSNs. The RGB-D sensor can detect the motion of the label to calculate the orientations and positions of the JSNs and the carrier relative to each other. After the orientations and positions have been detected, the JSNs jump into a cabin mounted on the carrier in dynamic cooperation with the carrier for recycling. The performances of the proposed methods are tested with a prototype system. The results show that the carrier can detect a JSN from up to 2 m away and sense its relative orientation and position successfully. The errors of the JSN’s orientation and position detections relative to the carrier could be reduced to the values smaller than 1° and 1 cm, respectively, by using the dynamic cooperation strategies. The proposed methods in this paper could also be used for other kinds of mobile sensor nodes and multi-robot systems.

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Relative Localization Method of Multiple Micro Robots Based on Simple Sensors

Cited by 15 publications

References 21 publications

A high-performance millirobot for swarm-behaviour studies: Swarm-topology estimation

A high-performance millirobot for swarm-behaviour studies: Swarm-topology estimation

Indoor mobile robot self-localization based on a low-cost light system with a novel emitter arrangement

Relative Orientation and Position Detections Based on an RGB-D Sensor and Dynamic Cooperation Strategies for Jumping Sensor Nodes Recycling

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