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Inexpensive, reliable and localization-free navigation using an RFID floor
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)ORCID iD: 0000-0002-9652-7864
Örebro University, School of Science and Technology, Örebro University, Sweden. (AASS)ORCID iD: 0000-0001-8229-1363
2015 (English)In: 2015 European Conference on Mobile Robots (ECMR), New York: IEEE conference proceedings , 2015, 7324204Conference paper, Published paper (Refereed)
Abstract [en]

Stigmergy is a principle observed in nature, in which animals store in the environment information to be used for communication or navigation. Stigmergy has recently been exploited in robotics: simple robots store a goal distance field in read-write RFID tags embedded in the floor, and later follow the gradient of this field to navigate optimally to that goal. Stigmergic navigation is localization-free, since robots only rely on the values read from the tags and do not need to know their own location. This makes navigation inexpensive (no ranging sensors) and reliable (no localization failures). To make this approach viable in practice, two issues need to be addressed: how to simplify the installation of an RFID floor; and how to follow the field gradient in a reliable way. This paper presents solutions to both problems. The solutions are validated through experiments performed on simulated and on real robots.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings , 2015. 7324204
Keyword [en]
Navigation; Reliability; RFID tags; Robot sensing systems; Strips
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-45484ISI: 000380213600038Scopus ID: 2-s2.0-84962229609ISBN: 978-1-4673-9163-4 (print)OAI: oai:DiVA.org:oru-45484DiVA: diva2:844584
Conference
European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2-4, 2015
Available from: 2015-08-06 Created: 2015-08-06 Last updated: 2017-03-06Bibliographically approved

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Khaliq, Ali AbdulPecora, FedericoSaffiotti, Alessandro
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf