Summary
In this paper we describe experiments with networks of robots and sensors in support of search and rescue and first response operations. The system we consider includes a network of Mica Mote sensors that can monitor temperature, light, and the movement of the structure on which they rest. We also consider an extension to chemical sensing in simulation only. An ATRV-Mini robot is extended with a Mote sensor and a protocol that allows it to interact with the network. We present algorithms and experiments for aggregating global maps in sensor space and using these maps for navigation. The sensor experiments were performed outdoors as part of a Search and Rescue exercise with practitioners in the field.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
M. Batalin and G.S. Sukhatme. Efficient exploration without localization. In Int. Conference on Robotics and Automation (ICRA), Taipei, May 2003.
D. Estrin, R. Govindan, and J. Heidemann. Embedding the internet. Communications of ACM, 43(5):39–41, May 2000.
J. Hill, R. Szewczyk, A. Woo, S. Hollar, D. Culler, and K. Pister. System architecture directions for network sensors. In ASPLOS, pages 93–104, 2000.
D. Koditschek. Planning and control via potential fuctions. Robotics Review I (Lozano-Perez and Khatib, editors), pages 349–367, 1989.
V. Kumar, D. Rus, and S. Singh. Robot and sensor networks for first responders. Pervasive Computing, 3(4):24–33, December 2004.
J.-C. Latombe. Robot Motion Planning. Kluwer, New York, 1992.
J. Lengyel, M. Reichert, B. Donald, and D. Greenberg. Real-time robot motion planning using rasterizing computer graphics hardware. In Proc. SIGGRAPH, pages 327–336, Dallas, TX, 1990.
Q. Li, M. de Rosa, and D. Rus. Distributed algorithms for guiding navigation across sensor networks. In MOBICOM, pages 67–77, San Diego, October 2003.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kotay, K., Peterson, R., Rus, D. (2006). Experiments with Robots and Sensor Networks for Mapping and Navigation. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_21
Download citation
DOI: https://doi.org/10.1007/978-3-540-33453-8_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
eBook Packages: EngineeringEngineering (R0)