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Cooperative Search of Multiple Unknown Transient Radio Sources Using Multiple Paired Mobile Robots
2014 / IEEE
This item from - IEEE Transaction - Robotics and Control Systems - We develop a localization method to enable a team of mobile robots to search for multiple unknown transient radio sources. Because of signal source anonymity, short transmission durations, and dynamic transmission patterns, robots cannot treat the radio sources as continuous radio beacons. Moreover, robots do not know the source transmission power and have limited sensing ranges. To cope with these challenges, we pair up robots and develop a cooperative sensing model using signal strength ratios from the paired robots. We formally prove that the joint conditional posterior probability of source locations for the