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The Range Beacon Placement Problem for Robot Navigation

River Allen, Neil MacMillan, Dimitri Marinakis, Rahnuma Islam Nishat, Rayhan Rahman, Sue Whitesides
2014 2014 Canadian Conference on Computer and Robot Vision  
Sonar range-based beacons are reasonable candidates for low cost position estimate sensors.  ...  Where GPS is not available, beacons that provide position estimates to a robot must be placed effectively in order to maximize a robots navigation accuracy and robustness.  ...  We acknowledge the Natural Sciences and Engineering Research Council of Canada for their funding.  ... 
doi:10.1109/crv.2014.28 dblp:conf/crv/AllenMMNRW14 fatcat:pu2ce6tz6fdj3i46abogzkm2gm

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Anwar Quraishi, Alcherio Martinoli
2021 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
As such, the common method of choice for external position referencing in underwater robots is the use of acoustic signals for computing range or direction of arrival.  ...  To that end, we have developed an acoustic range based navigation system with floating, movable beacons.  ...  This is then used to compute an optimal placement for the beacons in the next few seconds. A.  ... 
doi:10.1109/iros51168.2021.9636703 fatcat:tgg62ydjsnezxiqrimsjaft3qe

Global Localization of an Indoor Mobile Robot with a Single Base Station

H. Kirmse, M. Hennig, K. Janschek
2006 IFAC Proceedings Volumes  
Furthermore a new approach for the problem of the reliably detection of areas without direct line of sight is presented.  ...  The described system is very low cost and it is designed for use in indoor service robotics.  ...  Because of the close placement of the beacons with respect to each other the determined range r p of the robot in respect to its base station is much more precise than the determined angle α p .  ... 
doi:10.3182/20060912-3-de-2911.00101 fatcat:pvq6wg5elfhlfevetxnwszuz5u

Methodical Approach to Active Node Layout Generation for Robot Navigation

Guillermo Enriquez, Sunhong Park, Shuji Hashimoto
2014 Journal of Signal Processing  
In the field of mobile robot navigation, active beacons are a well researched tool to provide an infrastructure for guidance systems.  ...  In an attempt to formalize the placement of nodes in such a system, we have developed a straightforward approach for the placement of nodes.  ...  Introduction Active beacons are a widely researched tool in the field of mobile robot navigation, for both indoor and outdoor applications.  ... 
doi:10.2299/jsp.18.97 fatcat:vqtubdlm3rfhpmfrhwcowi5o4i

Certifiable Robot Design Optimization using Differentiable Programming [article]

Charles Dawson, Chuchu Fan
2022 arXiv   pre-print
First, we optimize sensor placements for robot navigation (a design with 5 subsystems and 6 tunable parameters) in under 5 minutes to achieve an 8.4x performance improvement compared to the initial design  ...  Using simulation and hardware experiments, we show how our tool can be used to solve practical problems in robotics.  ...  This design problem requires finding an optimal placement for two ranging beacons to minimize estimation error and allow the robot to safely navigate between two obstacles.  ... 
arXiv:2204.10935v1 fatcat:n6t53t5uhjdvrkk22iel3l276q

Toward Autonomous UAV Landing Based on Infrared Beacons and Particle Filtering [chapter]

Vsevolod Khithov, Alexander Petrov, Igor Tishchenko, Konstantin Yakovlev
2016 Advances in Intelligent Systems and Computing  
But the task still remains challenging when GPS availability is limited like for military UAVs.  ...  We discuss a solution of this problem based on computer vision and dot markings along stationary or makeshift runway.  ...  analysis and flow of data obtained from a set of stationary and mobile sensors, using high-performance distributed computing for the tasks of monitoring the indoor placement and adjacent outdoor territories  ... 
doi:10.1007/978-3-319-31293-4_43 fatcat:3vmc2dlstjfmvkkpic2rjtxt2q

Remote Sensor for Spatial Measurements by Using Optical Scanning

Oleg Sergiyenko, Wilmar Hernandez, Vira Tyrsa, Luis Felipe Devia Cruz, Oleg Starostenko, Mario Peña-Cabrera
2009 Sensors  
Here, two low-cost solutions to the above-mentioned problem are presented. These are two examples of practical applications of the novel passive optical scanning system presented in this paper.  ...  Despite the fact that during the last decade several approaches for both contact-free measurement techniques aimed at carrying out object surface recognition and 3-D object recognition have been proposed  ...  Acknowledgements This work has been partially supported by the Autonomous University of Baja California, Mexico  ... 
doi:10.3390/s90705477 pmid:22346709 pmcid:PMC3274130 fatcat:o5zqcdot5fcrdjwt2zpclg6hsq

Multi-Sensor Orientation Tracking for a Façade-Cleaning Robot

Manuel Vega-Heredia, Muhammad Ilyas, Sriharsha Ghanta, Ayyalusami Vengadesh, Siti Aisyah, Mohan Rajesh Elara
2020 Sensors  
For this application, we used an onboard Inertial Measurement Unit (IMU), wheel encoders, a beacon-based system, Time-of-Flight (ToF) range sensors, and an external vision sensor (camera) for angular position  ...  It is observed that ToF sensors work effectively from 0 to 30 degrees, beacons have a delay up to five seconds, and the odometry error increases according to the navigation distance due to slippage and  ...  Problems with ToF The ToF distance sensors detect the frame boundary from a height of 1.5 cm. The sensor placement height can be adjustable to 1 cm, constrained to the robot construction.  ... 
doi:10.3390/s20051483 pmid:32182699 fatcat:xjrs2qeiy5gz7np4nvqv7nu42e

Optimal sensor placement for cooperative distributed vision

L.E. Navarro-Serment, J.M. Dolan, P.K. Khosla
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
This paper describes a method for observing maneuvering targets using a group of mobile robots equipped with video cameras.  ...  This work considers the problem of scheduling and maneuvering the cameras based on the evaluation of their current positions in terms of how well can they maintain a frontal view of the target.  ...  Their work assumes that the cameras remain in fixed positions; the sensor placement problem is solved in the off-line camera work planning.  ... 
doi:10.1109/robot.2004.1307270 dblp:conf/icra/Navarro-SermentDK04 fatcat:4xlawkbquncbvbf37e6nqytaum

Towards an Engineering Science of Robot Foraging [chapter]

Alan F. T. Winfield
2009 Distributed Autonomous Robotic Systems 8  
The systematic study of robot foraging is important for several reasons: firstly, because foraging is a metaphor for the broad class of problems integrating robotic exploration, navigation and object identification  ...  Foraging is a benchmark problem in robotics -especially for distributed autonomous robotic systems.  ...  in on a beacon with a long range beacon sensor.  ... 
doi:10.1007/978-3-642-00644-9_16 dblp:conf/dars/Winfield08 fatcat:wssd7hbrmnc3niagyvjrc7svhq

Application of Multi-Robot Systems to Disaster-Relief Scenarios with Limited Communication [chapter]

Jason Gregory, Jonathan Fink, Ethan Stump, Jeffrey Twigg, John Rogers, David Baran, Nicholas Fung, Stuart Young
2016 Springer Tracts in Advanced Robotics  
First, we propose a formal problem statement in the context of operations research.  ...  Finally, we provide an experimental design and extensive, preliminary results for studying the effectiveness of our system.  ...  Fig. 2 2 XBee "beacon signal" transmitter with protective case. Fig. 3 3 Architecture for autonomous mapping and navigation.  ... 
doi:10.1007/978-3-319-27702-8_42 fatcat:jy56jqxd7zbpfh66popns4nrpi

New Three-dimensional Assessment Model and Optimization of Acoustic Positioning System

Lin Zhao, Xiaobo Chen, Jianhua Cheng, Lianhua Yu, Chengcai Lv, Jiuru Wang
2020 Computers Materials & Continua  
This paper addresses the problem of assessing and optimizing the acoustic positioning system for underwater target localization with range measurement.  ...  For mathematical tractability, it is assumed that the measurements of the range between the target and beacons are corrupted with white Gaussian noise with variance, which is distance-dependent.  ...  Zhang [Zhang (1995) ] addressed the problem of determining the optimal two-dimensional spatial placement of multiple sensors participating in robot perception tasks.  ... 
doi:10.32604/cmc.2020.010290 fatcat:5tvxhjel4rcdlno24xmau4sa7q

Jointly Optimizing Placement and Inference for Beacon-based Localization [article]

Charles Schaff, David Yunis, Ayan Chakrabarti, Matthew R. Walter
2017 arXiv   pre-print
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations.  ...  We propose an approach for making these design decisions automatically and without expert supervision, by explicitly searching for the placement and inference strategies that, together, are optimal for  ...  ACKNOWLEDGEMENTS We thank NVIDIA for the donation of Titan X GPUs used in this research. This work was supported in part by the National Science Foundation under Grant IIS-1638072.  ... 
arXiv:1703.08612v2 fatcat:klkxj5jahfgldfzlhgolqlhtjy

Research of methods and technologies for determining the position of the mobile object in space

Olga Nechyporenko, Yaroslav Korpan
2018 Tehnologìčnij Audit ta Rezervi Virobnictva  
In conditions when there are no reference points, for example, stationary beacons, traditional navigation tools: encoders, inertial sensors, GPS, beacons, range finders, do not always provide a fairly  ...  Global satellite navigation can be replaced by a local absolute navigation system, for example, from radio or ultrasonic beacons [11] .  ...  DEVELOPMENT OF INFORMATION AND ANALYTICAL MODEL OF THE STIMULATING INTERNET MARKETING Tykha T.  ... 
doi:10.15587/2312-8372.2018.147861 fatcat:wor4vo3pfzc3lhyqro6yx32hqe

Self-configuring localization systems

Nirupama Bulusu, John Heidemann, Deborah Estrin, Tommy Tran
2004 ACM Transactions on Embedded Computing Systems  
Problem Definition: Incremental Beacon Placement More formally, the problem of incremental beacon placement can be stated as follows. -Nominal transmission range for each beacon.  ...  The Problem: Environment Dependent Configuration Not surprisingly, localization has manifested itself as a classical problem in many disciplines, including the autonomous robot navigation problem [HS98  ...  The aim of this experiment is to isolate and study the impact of beacon density on the Random, Max and Grid beacon placement algorithms. At low densities (  ... 
doi:10.1145/972627.972630 fatcat:5mhpk5g22be5rkqzvdbmqffawa
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