Active control strategies for localizing a large number of devices with range-only sensors - Robotics Institute Carnegie Mellon University

Active control strategies for localizing a large number of devices with range-only sensors

B. Charrow, Nathan Michael, and V. Kumar
Workshop Paper, 11th International Workshop on the Algorithmic Foundations of Robotics (WAFR '14), pp. 55 - 71, August, 2014

Abstract

This paper addresses the problem of actively controlling robotic teams with range-only sensors to a) discover and b) localize an unknown number of devices. We develop separate information based objectives to achieve both goals, and examine ways of combining them into a uni-fied approach. Despite the computational complexity of calculating these policies for multiple robots over long time horizons, a series of approxi-mations enable all calculations to be performed in polynomial time. We demonstrate the tangible benefits of our approaches through a series of simulations in complex indoor environments.

BibTeX

@workshop{Charrow-2014-17173,
author = {B. Charrow and Nathan Michael and V. Kumar},
title = {Active control strategies for localizing a large number of devices with range-only sensors},
booktitle = {Proceedings of 11th International Workshop on the Algorithmic Foundations of Robotics (WAFR '14)},
year = {2014},
month = {August},
pages = {55 - 71},
}