Active target localization for bearing based robotic telemetry

Pratap Tokekar, Joshua Vander Hook, Volkan Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Scopus citations

Abstract

We present a novel robotic telemetry system for localizing radio-tagged invasive fish in frozen lakes using coarse bearing measurements. We address the problem of selecting sensing locations so as to minimize the uncertainty in the location of the target. For this purpose, we propose three active localization algorithms and evaluate them both in simulations and through field experiments. We also present a novel technique for bearing-estimation from directional radio antenna which is critical for the successful execution of the active localization algorithms. Our system is able to operate on frozen lakes and localize the target to within values as low as one meter.

Original languageEnglish (US)
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages488-493
Number of pages6
DOIs
StatePublished - Dec 29 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

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