Wireless sensor network-based communication for cooperative simultaneous localization and mapping

Basit Öğe Kaydı
dc.authoridTuna, Gurkan/0000-0002-6466-4696
dc.authoridPotirakis, Stelios M./0000-0001-5928-4587
dc.authorwosidTuna, Gurkan/AAG-4412-2019
dc.authorwosidPotirakis, Stelios M./I-3399-2016
dc.contributor.authorTuna, Gurkan
dc.contributor.authorGungor, Vehbi Cagri
dc.contributor.authorPotirakis, Stelios M.
dc.date.accessioned2024-06-12T11:17:42Z
dc.date.available2024-06-12T11:17:42Z
dc.date.issued2015
dc.departmentTrakya Üniversitesien_US
dc.description.abstractThis paper presents a novel approach of using a Wireless Sensor Network (WSN) as the communication means for Multi-Robot, Cooperative, Simultaneous Localization and Mapping (CSLAM) applications investigating the associated design challenges and suggesting corresponding solutions. Although the proposed approach brings several benefits including an increased coverage and communication range, self-organization capabilities, quick deployment, and flexible architecture, the realization is interrelated with performance in terms of energy efficiency and reliability. In this respect, the applicability of the WSNs for the presented approach is investigated. Centralized and distributed map merging methods in WSN-based CSLAM are evaluated in detail and the impacts of packet delays and losses on the performance of CSLAM algorithms are shown. Additionally, the involved network congestion and contention dynamics are presented, while the effects of observation range, speed, time intervals between observations, and odometry readings on the SLAM accuracy are shown based on an extensive set of simulation studies. (C) 2014 Elsevier Ltd. All rights reserved.en_US
dc.identifier.doi10.1016/j.compeleceng.2014.03.003
dc.identifier.endpage425en_US
dc.identifier.issn0045-7906
dc.identifier.issn1879-0755
dc.identifier.scopus2-s2.0-84927785768en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage407en_US
dc.identifier.urihttps://doi.org/10.1016/j.compeleceng.2014.03.003
dc.identifier.urihttps://hdl.handle.net/20.500.14551/24793
dc.identifier.volume41en_US
dc.identifier.wosWOS:000352173000033en_US
dc.identifier.wosqualityQ2en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherPergamon-Elsevier Science Ltden_US
dc.relation.ispartofComputers & Electrical Engineeringen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAwareen_US
dc.titleWireless sensor network-based communication for cooperative simultaneous localization and mappingen_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu