Decentralized Searching of Multiple Unknown and Transient Radio Sources
文献类型：会议论文
| 作者 | Kim Chang-Young; Song Dezhen; Yi Jingang |
| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 |
| 会议地点 | Karlsruhe, Germany |
| 英文摘要 | We develop a decentralized algorithm to coordinate a group of mobile robots to search for unknown and transient radio sources. In addition to limited mobility and ranges of communication and sensing, the robot team has to deal with challenges from signal source anonymity, short transmission duration, and variable transmission power. We propose a two-step approach: first, we decentralize belief functions that robots use to track source locations using checkpoint-based synchronization, and second, we propose a decentralized planning strategy to coordinate robots to ensure the existence of checkpoints. We analyze memory usage, data amount in communication, and searching time for the proposed algorithm. We have implemented the proposed algorithm and compared it with two heuristics. The experiment results show that our algorithm successfully trades a modest amount of memory for the fastest searching time among the three methods. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/4596]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2013 |
| 推荐引用方式 GB/T 7714 | Kim Chang-Young,Song Dezhen,Yi Jingang. Decentralized Searching of Multiple Unknown and Transient Radio Sources[C]. 见:2013 IEEE International Conference on Robotics and Automation, ICRA 2013. Karlsruhe, Germany. |
入库方式： OAI收割
来源：深圳先进技术研究院
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