Decentralized Searching of Multiple Unknown and Transient Radio Sources Conference Paper

abstract

• We develop a decentralized algorithm to coordinate a group of mobile robots to search for unknown and transient radio sources. In addition to limited mobility and ranges of communication and sensing, the robot team has to deal with challenges from signal source anonymity, short transmission duration, and variable transmission power. We propose a two-step approach: first, we decentralize belief functions that robots use to track source locations using checkpoint-based synchronization, and second, we propose a decentralized planning strategy to coordinate robots to ensure the existence of checkpoints. We analyze memory usage, data amount in communication, and searching time for the proposed algorithm. We have implemented the proposed algorithm and compared it with two heuristics. The experiment results show that our algorithm successfully trades a modest amount of memory for the fastest searching time among the three methods. 2013 IEEE.

name of conference

• 2013 IEEE International Conference on Robotics and Automation

authors

• Song, Dezhen

published proceedings

• 2013 IEEE International Conference on Robotics and Automation

author list (cited authors)

• Kim, C., Song, D., & Yi, J.

citation count

• 4

complete list of authors

• Kim, Chang-Young||Song, Dezhen||Yi, Jingang

publication date

• May 2013

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

Digital Object Identifier (DOI)

• 10.1109/icra.2013.6630684

International Standard Book Number (ISBN) 13

• 9781467356411

start page

• 927

end page

• 932

URL

• http://dx.doi.org/10.1109/icra.2013.6630684