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05-03-2020

Non-line-of-sight error mitigating algorithms for transmitter localization based on hybrid TOA/RSSI measurements

Author: Jonghoek Kim

Published in: Wireless Networks | Issue 5/2020

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Abstract

Rendezvous control of multiple robots without losing network connectivity has important implications in multi-robot system including formation control, coordinated task assignments, and cooperative robotic missions. This paper introduces a new coordinate-free, bearing-based algorithm to enable rendezvous of distributed mobile robots at any designated leader robot node using hierarchical tracking of wireless network topology. An assumption is made that the robot can only sense and communicate with their neighbors (i.e., local sensing). The proposed approach preserves connectivity during the rendezvous task, adapts to dynamic changes in the network topology (e.g., losing or re-gaining a communication link), and is tolerant of mobility faults in the robots. We theoretically analyze the proposed algorithm and experimentally demonstrate the approach through simulations and extensive field experiments. The results indicate that the method is effective in a variety of realistic scenarios in which the robots are distributed in a cluttered environment.

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Title: Non-line-of-sight error mitigating algorithms for transmitter localization based on hybrid TOA/RSSI measurements
Author: Jonghoek Kim
Publication date: 05-03-2020
Publisher: Springer US
Published in: Wireless Networks / Issue 5/2020
Print ISSN: 1022-0038
Electronic ISSN: 1572-8196
DOI: https://doi.org/10.1007/s11276-020-02285-4

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