A Method of Generating a Set of Common Coordinates for a Robot Swarm with Only Ranging Capability -- Principles and Computer Simulations --

Tatsuya ISHIMOTO  Shinsuke HARA  

IEICE TRANSACTIONS on Communications   Vol.E92-B    No.12    pp.3726-3735
Publication Date: 2009/12/01
Online ISSN: 1745-1345
DOI: 10.1587/transcom.E92.B.3726
Print ISSN: 0916-8516
Type of Manuscript: PAPER
Category: Fundamental Theories for Communications
robot swarm,  wireless communications,  common coordinates,  ranging,  maximum likelihood estimation,  

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For a group of wirelessly networked robots, called "a robot swarm," to accomplish a unified task as a group, it is necessary to generate a set of common coordinates among all member robots and to notify each member robot of its heading direction in the generated common coordinates. However, when the member robots are not equipped with sensors to identify their locations or bearings, they can use only a ranging capability based in the wireless communication protocol being used to network them as a tool to generate a set of common coordinates among them. This paper presents the detailed principles of a method for generating a set of common coordinates/heading direction for a robot swarm with only ranging capability which we have proposed so far. After showing the theoretical Cramer-Rao lower-bound on the location estimation error variance, we demonstrate several computer simulation results for the proposed method with Received Signal Strength Indication (RSSI)-based ranging.