The full text of this article

 

Rigidity guided localisation for mobile robotic sensor networks
by Changhua Wu, Ying Zhang, Weihua Sheng, Saroja Kanchi
International Journal of Ad Hoc and Ubiquitous Computing (IJAHUC), Vol. 6, No. 2, 2010

 

Abstract: This paper introduces a rigidity-guided localisation approach for mobile robotic sensor networks. The localisation uses a distance graph composed of both the robot-to-robot ranging data and the motion trajectories from robot odometry. The motion of a robot depends on the result of the rigidity test of its local distance graph: if the graph is not uniquely localisable, the robot moves around in its neighbourhood to collect at least two extra ranging data with each of its neighbours in order to make the extended graph uniquely localisable. Locally unique maps are then merged into a globally consistent map.

Online publication date: Sat, 31-Jul-2010

 

is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

 
Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

 
Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Ad Hoc and Ubiquitous Computing (IJAHUC):
Login with your Inderscience username and password:

 

    Username:        Password:         

Forgotten your password?


 
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

 
If you still need assistance, please email subs@inderscience.com