Path planning in GPS-denied environments via collective intelligence of distributed sensor networks
This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a...
Ausführliche Beschreibung
Autor*in: |
Jha, Devesh K [verfasserIn] |
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Format: |
Artikel |
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Sprache: |
Englisch |
Erschienen: |
2016 |
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Rechteinformationen: |
Nutzungsrecht: © 2015 Taylor & Francis 2015 |
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Schlagwörter: |
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Übergeordnetes Werk: |
Enthalten in: International journal of control - London : Taylor & Francis, 1965, 89(2016), 5, Seite 984 |
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Übergeordnetes Werk: |
volume:89 ; year:2016 ; number:5 ; pages:984 |
Links: |
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DOI / URN: |
10.1080/00207179.2015.1110754 |
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Katalog-ID: |
OLC1974536025 |
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10.1080/00207179.2015.1110754 doi PQ20160610 (DE-627)OLC1974536025 (DE-599)GBVOLC1974536025 (PRQ)i1459-c15e0a35b08cbd894a6e71f2cf076242c19fce145f6a7644ecbb41b320e579b20 (KEY)0006630320160000089000500984pathplanningingpsdeniedenvironmentsviacollectivein DE-627 ger DE-627 rakwb eng 620 DNB Jha, Devesh K verfasserin aut Path planning in GPS-denied environments via collective intelligence of distributed sensor networks 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot. Nutzungsrecht: © 2015 Taylor & Francis 2015 Target detection collective intelligence mobile sensor network path Planning language measure Intelligence Sensors Algorithms Robots Chattopadhyay, Pritthi oth Sarkar, Soumik oth Ray, Asok oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 5, Seite 984 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:5 pages:984 http://dx.doi.org/10.1080/00207179.2015.1110754 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2015.1110754 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 5 984 |
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10.1080/00207179.2015.1110754 doi PQ20160610 (DE-627)OLC1974536025 (DE-599)GBVOLC1974536025 (PRQ)i1459-c15e0a35b08cbd894a6e71f2cf076242c19fce145f6a7644ecbb41b320e579b20 (KEY)0006630320160000089000500984pathplanningingpsdeniedenvironmentsviacollectivein DE-627 ger DE-627 rakwb eng 620 DNB Jha, Devesh K verfasserin aut Path planning in GPS-denied environments via collective intelligence of distributed sensor networks 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot. Nutzungsrecht: © 2015 Taylor & Francis 2015 Target detection collective intelligence mobile sensor network path Planning language measure Intelligence Sensors Algorithms Robots Chattopadhyay, Pritthi oth Sarkar, Soumik oth Ray, Asok oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 5, Seite 984 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:5 pages:984 http://dx.doi.org/10.1080/00207179.2015.1110754 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2015.1110754 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 5 984 |
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10.1080/00207179.2015.1110754 doi PQ20160610 (DE-627)OLC1974536025 (DE-599)GBVOLC1974536025 (PRQ)i1459-c15e0a35b08cbd894a6e71f2cf076242c19fce145f6a7644ecbb41b320e579b20 (KEY)0006630320160000089000500984pathplanningingpsdeniedenvironmentsviacollectivein DE-627 ger DE-627 rakwb eng 620 DNB Jha, Devesh K verfasserin aut Path planning in GPS-denied environments via collective intelligence of distributed sensor networks 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot. Nutzungsrecht: © 2015 Taylor & Francis 2015 Target detection collective intelligence mobile sensor network path Planning language measure Intelligence Sensors Algorithms Robots Chattopadhyay, Pritthi oth Sarkar, Soumik oth Ray, Asok oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 5, Seite 984 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:5 pages:984 http://dx.doi.org/10.1080/00207179.2015.1110754 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2015.1110754 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 5 984 |
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10.1080/00207179.2015.1110754 doi PQ20160610 (DE-627)OLC1974536025 (DE-599)GBVOLC1974536025 (PRQ)i1459-c15e0a35b08cbd894a6e71f2cf076242c19fce145f6a7644ecbb41b320e579b20 (KEY)0006630320160000089000500984pathplanningingpsdeniedenvironmentsviacollectivein DE-627 ger DE-627 rakwb eng 620 DNB Jha, Devesh K verfasserin aut Path planning in GPS-denied environments via collective intelligence of distributed sensor networks 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot. Nutzungsrecht: © 2015 Taylor & Francis 2015 Target detection collective intelligence mobile sensor network path Planning language measure Intelligence Sensors Algorithms Robots Chattopadhyay, Pritthi oth Sarkar, Soumik oth Ray, Asok oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 5, Seite 984 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:5 pages:984 http://dx.doi.org/10.1080/00207179.2015.1110754 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2015.1110754 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 5 984 |
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10.1080/00207179.2015.1110754 doi PQ20160610 (DE-627)OLC1974536025 (DE-599)GBVOLC1974536025 (PRQ)i1459-c15e0a35b08cbd894a6e71f2cf076242c19fce145f6a7644ecbb41b320e579b20 (KEY)0006630320160000089000500984pathplanningingpsdeniedenvironmentsviacollectivein DE-627 ger DE-627 rakwb eng 620 DNB Jha, Devesh K verfasserin aut Path planning in GPS-denied environments via collective intelligence of distributed sensor networks 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot. Nutzungsrecht: © 2015 Taylor & Francis 2015 Target detection collective intelligence mobile sensor network path Planning language measure Intelligence Sensors Algorithms Robots Chattopadhyay, Pritthi oth Sarkar, Soumik oth Ray, Asok oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 5, Seite 984 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:5 pages:984 http://dx.doi.org/10.1080/00207179.2015.1110754 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2015.1110754 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 5 984 |
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Path planning in GPS-denied environments via collective intelligence of distributed sensor networks |
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title_full |
Path planning in GPS-denied environments via collective intelligence of distributed sensor networks |
author_sort |
Jha, Devesh K |
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International journal of control |
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International journal of control |
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eng |
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600 - Technology |
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2016 |
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984 |
author_browse |
Jha, Devesh K |
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89 |
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author-letter |
Jha, Devesh K |
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10.1080/00207179.2015.1110754 |
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620 |
title_sort |
path planning in gps-denied environments via collective intelligence of distributed sensor networks |
title_auth |
Path planning in GPS-denied environments via collective intelligence of distributed sensor networks |
abstract |
This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot. |
abstractGer |
This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot. |
abstract_unstemmed |
This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot. |
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container_issue |
5 |
title_short |
Path planning in GPS-denied environments via collective intelligence of distributed sensor networks |
url |
http://dx.doi.org/10.1080/00207179.2015.1110754 http://www.tandfonline.com/doi/abs/10.1080/00207179.2015.1110754 |
remote_bool |
false |
author2 |
Chattopadhyay, Pritthi Sarkar, Soumik Ray, Asok |
author2Str |
Chattopadhyay, Pritthi Sarkar, Soumik Ray, Asok |
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doi_str |
10.1080/00207179.2015.1110754 |
up_date |
2024-07-04T04:31:26.542Z |
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