Date of this Version
We have implemented a system of tracking mobile robots and mapping an unstructured environment, using up to 25 wireless sensor nodes in an indoor setting. These sensor nodes form an ad hoc network of beacons, self-localize with respect to three anchor nodes, and then track the locations of mobile robots in the field. The system described here was motivated by search and rescue applications, and has been demonstrated in real physical environments.
Zhang, Ying; Ackerson, Lee; Duff, David; Eldershaw, Craig; and Yim, Mark, "STAM: A System of Tracking and Mapping in Real Environments" (2004). Departmental Papers (MEAM). 37.
Date Posted: 11 August 2005
This document has been peer reviewed.