Online Methods for Radio Signal Mapping with Mobile Robots

被引：58
作者：
Fink, Jonathan [1 ]
Kumar, Vijay [1 ]
机构：
[1] Univ Penn, Grasp Lab, Philadelphia, PA 19104 USA
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
关键词：
MODELS;
D O I：
10.1109/ROBOT.2010.5509574
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we explore methods for the online mapping of received radio signal strength with mobile robots and localizing the source of the radio signal. By utilizing Gaussian processes, we are able to build an online model of the signal-strength map that can, in turn, be used to provide the current maximum likelihood estimate of the source location. Furthermore, using the estimate of the source location, the Gaussian process model allows for prediction of received signal strength with confidence bounds in regions of the environment that have not been explored. Finally, we develop a control law for collecting samples of the signal strength with mobile robots that allows for online estimation of the radio signal source.
引用
收藏
页码：1940 / 1945
页数：6
相关论文
共 21 条
[1]  
ABT M, 1998, CANADIAN J STAT REV, P127
[2]   Gaussian process models for sensor-centric robot localisation [J].
Brooks, Alex ;
Makarenko, Alexei ;
Upcroft, Ben .
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, :56-+
[3]  
CSATO L, 2002, THESIS U ASTON BIRMI
[4]  
Damosso E., 1998, Digital Mobile Radio: COST 231 View on the Evolution towards 3rd Generation Systems
[5]  
Ferris B, 2007, 20TH INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE, P2480
[6]  
Ferris Brian., 2006, ROBOTICS SCI SYSTEMS
[7]  
FINK J, 2009, P IEEE INT C I UNPUB
[8]   Deterministic approach for fast simulations of indoor radio wave propagation [J].
Gorce, Jean-Marie ;
Jaffres-Runser, Katia ;
de la Roche, Guillaume .
IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION, 2007, 55 (03) :938-948
[9]  
Grocholsky B, 2003, LECT NOTES COMPUT SC, V2634, P96
[10]  
GROCHOLSKY B, 2006, P INT S EXP ROB
123