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

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

doi:10.1109/ACC.2015.7171806

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

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

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	ACC 2015 - 2015 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3082-3087
Number of pages	6
ISBN (Electronic)	9781479986842
DOIs	https://doi.org/10.1109/ACC.2015.7171806
State	Published - Jul 28 2015
Event	2015 American Control Conference, ACC 2015 - Chicago, United States Duration: Jul 1 2015 → Jul 3 2015

Publication series

Name	Proceedings of the American Control Conference
Volume	2015-July
ISSN (Print)	0743-1619

Other

Other	2015 American Control Conference, ACC 2015
Country/Territory	United States
City	Chicago
Period	7/1/15 → 7/3/15

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2015.7171806

Cite this

Chattopadhyay, P., Jha, D. K., Sarkar, S., & Ray, A. (2015). Path planning in GPS-denied environments: A collective intelligence approach. In ACC 2015 - 2015 American Control Conference (pp. 3082-3087). Article 7171806 (Proceedings of the American Control Conference; Vol. 2015-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7171806

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title = "Path planning in GPS-denied environments: A collective intelligence approach",

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.",

author = "Pritthi Chattopadhyay and Jha, {Devesh K.} and Soumik Sarkar and Asok Ray",

note = "Publisher Copyright: {\textcopyright} 2015 American Automatic Control Council.; 2015 American Control Conference, ACC 2015 ; Conference date: 01-07-2015 Through 03-07-2015",

year = "2015",

month = jul,

day = "28",

doi = "10.1109/ACC.2015.7171806",

language = "English (US)",

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Chattopadhyay, P, Jha, DK, Sarkar, S & Ray, A 2015, Path planning in GPS-denied environments: A collective intelligence approach. in ACC 2015 - 2015 American Control Conference., 7171806, Proceedings of the American Control Conference, vol. 2015-July, Institute of Electrical and Electronics Engineers Inc., pp. 3082-3087, 2015 American Control Conference, ACC 2015, Chicago, United States, 7/1/15. https://doi.org/10.1109/ACC.2015.7171806

Path planning in GPS-denied environments: A collective intelligence approach. / Chattopadhyay, Pritthi; Jha, Devesh K.; Sarkar, Soumik et al.
ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3082-3087 7171806 (Proceedings of the American Control Conference; Vol. 2015-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Path planning in GPS-denied environments

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AU - Chattopadhyay, Pritthi

AU - Jha, Devesh K.

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N2 - 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.

AB - 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.

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M3 - Conference contribution

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BT - ACC 2015 - 2015 American Control Conference

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 1 July 2015 through 3 July 2015

ER -

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

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