Sensor placement algorithms for triangulation based localization

Onur Tekdas, Volkan Isler

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

13 Scopus citations

Abstract

Robots operating in a workspace can localize themselves by querying nodes of a sensor-network deployed in the same workspace. This paper addresses the problem of computing the minimum number and placement of sensors so that the localization uncertainty at every point in the workspace is less than a given threshold. We focus on triangulation based state estimation where measurements from two sensors must be combined for an estimate. We show that the general problem for arbitrary uncertainty models is computationally hard. For the general problem, we present a solution framework based on integer linear programming and demonstrate its practical feasibility with simulations. Finally, we present an approximation algorithm for a geometric uncertainty measure which simultaneously addresses occlusions, angle and distance constraints.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4448-4453
Number of pages6
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

Fingerprint Dive into the research topics of 'Sensor placement algorithms for triangulation based localization'. Together they form a unique fingerprint.

Cite this