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학술지 Seamless Routing and Cooperative Localization of Multiple Mobile Robots for Search and Rescue Application
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저자
이창은, 임현자, 임정민, 조영조, 성태경
발행일
201504
출처
ETRI Journal, v.37 no.2, pp.262-272
ISSN
1225-6463
출판사
한국전자통신연구원 (ETRI)
DOI
https://dx.doi.org/10.4218/etrij.15.2314.0139
협약과제
14IC1100, 비정형 환경 대응 네트워크 기반 군집기능 로봇 기술 개발, 조영조
초록
In particular, for a practical mobile robot team to perform such a task as that of carrying out a search and rescue mission in a disaster area, the network connectivity and localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a Global Positioning System is unavailable. This paper proposes the new collective intelligence network management architecture of multiple mobile robots supporting seamless network connectivity and cooperative localization. The proposed architecture includes a resource manager that makes the robots move around and not disconnect from the network link by considering the strength of the network signal and link quality. The location manager in the architecture supports localizing robots seamlessly by finding the relative locations of the robots as they move from a global outdoor environment to a local indoor position. The proposed schemes assuring network connectivity and localization were validated through numerical simulations and applied to a search and rescue robot team.
키워드
CINeMA, Cooperative localization, Global Positioning System, Location manager, Network connectivity and localization, Resource manager, Seamless routing
KSP 제안 키워드
Collective Intelligence, Cooperative Localization, Indoor position, Link quality, Multiple Mobile Robots, Network Connectivity, Network link, Network management architecture, Numerical simulations, Outdoor environments, Routing and