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- Khaliq, Ali Abdul, 1987-, et al.
(författare)
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Inexpensive, reliable and localization-free navigation using an RFID floor
- 2015
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Ingår i: 2015 European Conference on Mobile Robots (ECMR). - New York : IEEE conference proceedings. - 9781467391634
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Konferensbidrag (refereegranskat)abstract
- 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.
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| 2. |
- Khaliq, Ali Abdul, 1987-, et al.
(författare)
-
Stigmergy at work : Planning and navigation for a service robot on an RFID floor
- 2015
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Ingår i: IEEE International Conference on Robotics and Automation. - : IEEE Computer Society. - 9781479969234 ; , s. 1085-1092
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Konferensbidrag (refereegranskat)abstract
- Many species in nature store information in the environment to facilitate the performance of tasks and enable cooperation. This principle is known as stigmergy. Stigmergy has been widely studied in robotic systems, but so far mostly in simulation or in laboratory proofs of concept. In this paper, we propose a stigmergic approach to goal-directed navigation that can be used for navigation of a full-scale robotic system in a real apartment. A team of small ePuck robots build a set of navigation maps directly onto an RFID floor, where each map is associated to one predefined goal. The information stored in the floor can then used by a mid-size robot or by a larger domestic robot to perform safe navigation toward the predefined goals. To navigate, robots only rely on the information read from the RFID tags: in particular, they do not need to use an internal map or to perform self-localization. This results in robust and repeatable navigation with minimal hardware and software requirements.
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