Communication related design considerations of WSN-aided Multi-Robot SLAM

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dc.authorscopusid48862103700
dc.authorscopusid6602534829
dc.authorscopusid10739803300
dc.contributor.authorTuna G.
dc.contributor.authorGulez K.
dc.contributor.authorGungor V.C.
dc.date.accessioned2024-06-12T10:25:22Z
dc.date.available2024-06-12T10:25:22Z
dc.date.issued2011
dc.descriptionIEEE Industrial Electronics Society;Istanbul Technical University;FESTO;STM;aselsanen_US
dc.description2011 IEEE International Conference on Mechatronics, ICM 2011 -- 13 April 2011 through 15 April 2011 -- Istanbul -- 86249en_US
dc.description.abstractThis paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations. © 2011 IEEE.en_US
dc.identifier.doi10.1109/ICMECH.2011.5971336
dc.identifier.endpage498en_US
dc.identifier.isbn9.78161E+12
dc.identifier.scopus2-s2.0-80052181981en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage493en_US
dc.identifier.urihttps://doi.org/10.1109/ICMECH.2011.5971336
dc.identifier.urihttps://hdl.handle.net/20.500.14551/16307
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.relation.ispartof2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedingsen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectMap Merging; Mobile Robot; Ns-2; Slam; Wsnsen_US
dc.subjectCommunication Problems; Design Considerations; Map Merging; Multiple Robot; Multirobots; Network Simulators; Ns-2; Odometry; Radio Messages; Rao-Blackwellized Particle Filter; Received Signal Strength Indicators; Simultaneous Localization And Mapping; Slam; Slam Algorithm; Wsns; Communication; Computer Simulation; Industrial Robots; Machine Design; Mathematical Techniques; Mechatronics; Multipurpose Robots; Wireless Sensor Networks; Roboticsen_US
dc.titleCommunication related design considerations of WSN-aided Multi-Robot SLAMen_US
dc.typeConference Objecten_US

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