• DocumentCode
    1185462
  • Title

    STAM: a system of tracking and mapping in real environments

  • Author

    Zhang, Ying ; Ackerson, Lee ; Duff, David ; Eldershaw, Craig ; Yim, Mark

  • Author_Institution
    Palo Alto Res. Center, CA, USA
  • Volume
    11
  • Issue
    6
  • fYear
    2004
  • Firstpage
    87
  • Lastpage
    96
  • Abstract
    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.
  • Keywords
    ad hoc networks; indoor radio; mobile robots; wireless sensor networks; ad hoc network; indoor setting; mobile robot; system of tracking and mapping; wireless sensor node; Laser modes; Laser radar; Mobile robots; Orbital robotics; Radar tracking; Robot sensing systems; Sensor arrays; Sensor systems; Simultaneous localization and mapping; Wireless sensor networks;
  • fLanguage
    English
  • Journal_Title
    Wireless Communications, IEEE
  • Publisher
    ieee
  • ISSN
    1536-1284
  • Type

    jour

  • DOI
    10.1109/MWC.2004.1368901
  • Filename
    1368901
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1185462