Aerial Radio-Based Telemetry for Tracking Wildlife

Haluk Bayram, Nikolaos Stefas, Volkan I Isler

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

3 Scopus citations

Abstract

This paper considers the problem of choosing measurement locations of an aerial robot in an online manner in order to localize an animal with a radio collar. The aerial robot has a commercial, low-cost directional antenna and USB receiver to capture the signal. It uses its own movement to obtain a bearing measurement. The uncertainty in these measurements is assumed to be bounded and represented as wedges. The measurements are then merged by intersecting the wedges. The localization uncertainty is quantified by the area of the resulting intersection. The goal is to reduce the localization uncertainty to a value below a given threshold in minimum time. We present an online strategy to choose measurement locations during execution based on previous readings and analyze its performance with competitive analysis. The time required to localize a target is upper-bounded by the function of measurement noise, desired localization uncertainty and minimum step length. We also validate the strategy in extensive simulations and show its applicability through field experiments over a 5 hectare area using an autonomous aerial robot equipped with a directional antenna.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4723-4728
Number of pages6
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

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  • Cite this

    Bayram, H., Stefas, N., & Isler, V. I. (2018). Aerial Radio-Based Telemetry for Tracking Wildlife. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 4723-4728). [8594503] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594503