Path planning in GPS-denied environments: A collective intelligence approach

Pritthi Chattopadhyay, Devesh K. Jha, Soumik Sarkar, Asok Ray

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown environments. A mobile sensor network is used for localization of regions of interest for path planning of an autonomous mobile robot in the absence of global positioning facilities. The underlying theory is an extension of a generalized gossip algorithm that has been recently developed in a language-measure-theoretic setting. The gossip algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief for the target detected over the network. The proposed concept has been validated through numerical experiments with a mobile sensor network and a point mass robot.

Original languageEnglish (US)
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3082-3087
Number of pages6
ISBN (Electronic)9781479986842
DOIs
StatePublished - Jul 28 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Publication series

NameProceedings of the American Control Conference
Volume2015-July
ISSN (Print)0743-1619

Other

Other2015 American Control Conference, ACC 2015
Country/TerritoryUnited States
CityChicago
Period7/1/157/3/15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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