Monte carlo simultaneous localization of multiple unknown transient radio sources using a mobile robot with a directional antenna

Dezhen Song, Chang Young Kim, Jingang Yi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Scopus citations

Abstract

We report our system and algorithm developments that enable a single mobile robot equipped with a directional antenna to simultaneously localize multiple unknown transient radio sources. Due to signal source anonymity, short transmission durations, and dynamic transmission patterns the robot cannot treat the radio sources as continuous radio beacons.We model the radio source behaviors using a novel spatiotemporal probability occupancy grid (SPOG) that captures transient characteristics of radio transmissions and tracks the spatiotemporal posterior probability distribution of the radio transmissions. As a Monte Carlo method, we propose a ridge walking motion planning algorithm that enables the robot to efficiently traverse the high probability regions to accelerate the convergence of the posterior probability distribution. We have implemented the algorithms and the experiment results show that our method consistently outperforms methods such as arandom walk or a fixed-route patrol mechanism.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages3154-3159
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/TerritoryJapan
CityKobe
Period5/12/095/17/09

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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