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Sensors 2014, 14(5), 7684-7710; doi:10.3390/s140507684

An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements

*  and
Robotics Vision and Control Group, University of Sevilla, Escuela Superior de Ingenieros, c/Camino de los Descubrimientos s/n, 41092 Seville, Spain
* Author to whom correspondence should be addressed.
Received: 31 December 2013 / Revised: 10 April 2014 / Accepted: 11 April 2014 / Published: 25 April 2014
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2013)
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This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks for range-only (RO) simultaneous localization and mapping (SLAM). This paper presents a RO-SLAM scheme that actuates over the measurement gathering process using mechanisms that dynamically modify the rate and variety of measurements that are integrated in the SLAM filter. It includes a measurement gathering module that can be configured to collect direct robot-beacon and inter-beacon measurements with different inter-beacon depth levels and at different rates. It also includes a supervision module that monitors the SLAM performance and dynamically selects the measurement gathering configuration balancing SLAM accuracy and resource consumption. The proposed scheme has been applied to an extended Kalman filter SLAM with auxiliary particle filters for beacon initialization (PF-EKF SLAM) and validated with experiments performed in the CONET Integrated Testbed. It achieved lower map and robot errors (34% and 14%, respectively) than traditional methods with a lower computational burden (16%) and similar beacon energy consumption.
Keywords: robot-sensor network cooperation; range-only SLAM; sensor networks robot-sensor network cooperation; range-only SLAM; sensor networks
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Torres-González, A.; Martinez-de Dios, J.R.; Ollero, A. An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements. Sensors 2014, 14, 7684-7710.

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