TY - GEN
T1 - Path planning in GPS-denied environments
T2 - 2015 American Control Conference, ACC 2015
AU - Chattopadhyay, Pritthi
AU - Jha, Devesh K.
AU - Sarkar, Soumik
AU - Ray, Asok
N1 - Publisher Copyright:
© 2015 American Automatic Control Council.
PY - 2015/7/28
Y1 - 2015/7/28
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.
UR - http://www.scopus.com/inward/record.url?scp=84940940674&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84940940674&partnerID=8YFLogxK
U2 - 10.1109/ACC.2015.7171806
DO - 10.1109/ACC.2015.7171806
M3 - Conference contribution
AN - SCOPUS:84940940674
T3 - Proceedings of the American Control Conference
SP - 3082
EP - 3087
BT - ACC 2015 - 2015 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 July 2015 through 3 July 2015
ER -