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Engineering    2015, Vol. 1 Issue (1) : 58 -65
Research |
Decentralized Searching of Multiple Unknown and Transient Radio Sources with Paired Robots
Chang-Young Kim1,Dezhen Song2,(),Jingang Yi3,Xinyu Wu4
1. Kespry, Inc., Menlo Park, CA 94025, USA
2. CSE Department, Texas A&M University, College Station, TX 77843, USA
3. MAE Department, Rutgers University, Piscataway, NJ 08854, USA
4. Shenzhen Institute of Advanced Technology, Chinese Academy of Science, Shenzhen 518055, China

In this paper, 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 experimental results show that our algorithm successfully trades a modest amount of memory for the fastest searching time among the three methods.

Keywords wireless localization      networked robots      transient targets     
Corresponding Authors: Dezhen Song   
Just Accepted Date: 31 March 2015   Online First Date: 19 June 2015    Issue Date: 02 July 2015
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Chang-Young Kim
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Xinyu Wu
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Chang-Young Kim,Dezhen Song,Jingang Yi, et al. Decentralized Searching of Multiple Unknown and Transient Radio Sources with Paired Robots[J]. Engineering, 2015, 1(1): 58 -65 .
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