STAM: a system of tracking and mapping in real environments

We have implemented a system of tracking mobile robots and mapping an unstructured environment, using up to 25 wireless sensor nodes in an indoor setting. These sensor nodes form an ad hoc network of beacons, self-localize with respect to three anchor nodes, and then track the locations of mobile ro...

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Bibliographic Details
Published inIEEE wireless communications Vol. 11; no. 6; pp. 87 - 96
Main Authors Ying Zhang, Ackerson, L., Duff, D., Eldershaw, C., Yim, M.
Format Journal Article
LanguageEnglish
Published New York IEEE 01.12.2004
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Beacons
Indoor
Laser modes
Laser radar
Mapping
Mobile robots
Networks
Orbital robotics
Radar tracking
Robot sensing systems
Robots
Sensor arrays
Sensor systems
Sensors
Simultaneous localization and mapping
Tracking
Wireless communication
Wireless sensor networks
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Summary:We have implemented a system of tracking mobile robots and mapping an unstructured environment, using up to 25 wireless sensor nodes in an indoor setting. These sensor nodes form an ad hoc network of beacons, self-localize with respect to three anchor nodes, and then track the locations of mobile robots in the field. The system described here was motivated by search and rescue applications, and has been demonstrated in real physical environments.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1536-1284
1558-0687
DOI:10.1109/MWC.2004.1368901