Simultaneous localization of multiple unknown CSMA-based wireless sensor network nodes using a mobile robot with a directional antenna

Jingang Yi, Chang Young Kim, Dezhen Song

Research output: Contribution to journalArticlepeer-review

9 Scopus citations

Abstract

We use a single mobile robot equipped with a directional antenna to simultaneously localize unknown carrier sensing multiple access (CSMA)-based wireless sensor network nodes. We assume the robot can only sense radio transmissions at the physical layer. The robot does not know network configuration such as size and protocol. We formulate this new localization problem and propose a particle filter-based localization approach. We combine a CSMA model and a directional antenna model using multiple particle filters. The CSMA model provides network configuration data while the directional antenna model provides inputs for particle filters to update. Based on the particle distribution, we propose a robot motion planning algorithm that assists the robot to efficiently traverse the field to search radio source. The final localization scheme consists of two algorithms: a sensing algorithms that runs in O(n) time for n particles and a motion planning algorithm that runs in O(nl) time for l radio sources. We have implemented the algorithm, and the results show that the algorithms are capable of localizing unknown networked radio sources effectively and robustly.

Original languageEnglish (US)
Pages (from-to)219-231
Number of pages13
JournalIntelligent Service Robotics
Volume2
Issue number4
DOIs
StatePublished - Oct 2009

All Science Journal Classification (ASJC) codes

  • Computational Mechanics
  • Engineering (miscellaneous)
  • Mechanical Engineering
  • Artificial Intelligence

Keywords

  • Particle filter
  • Radio frequency localization
  • Robot navigation
  • Wireless sensor network

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