RSSI-based localization of a wireless sensor node with a flying robot

Bohdanowicz, Frank, Frey, Hannes, Funke, Rafael, Mosen, Dominik, Neumann, Florentin and Stojmenović, Ivan 2015, RSSI-based localization of a wireless sensor node with a flying robot, in SAC 2015: Proceedings of the 30th ACM Symposium on Applied Computing, Association for Computing Machinery, New York, N.Y., pp. 708-715, doi: 10.1145/2695664.2695873.

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Title RSSI-based localization of a wireless sensor node with a flying robot
Author(s) Bohdanowicz, Frank
Frey, Hannes
Funke, Rafael
Mosen, Dominik
Neumann, Florentin
Stojmenović, Ivan
Conference name ACM Applied Computing. Annual Symposium (30th : 2015 : Salamanca, Spain)
Conference location Salamanca, Spain
Conference dates 13-17 Apr. 2015
Title of proceedings SAC 2015: Proceedings of the 30th ACM Symposium on Applied Computing
Editor(s) Shin, D.
Publication date 2015
Start page 708
End page 715
Total pages 8
Publisher Association for Computing Machinery
Place of publication New York, N.Y.
Keyword(s) localization
wireless sensor networks
received signal strength indicator
field experiments
Summary We consider the problem of navigating a ying robot to a specific sensor node within a wireless sensor network. This target sensor node periodically sends out beacons. The robot is capable of sensing the received signal strength of each received beacon (RSSI measurements). Existing approaches for solving the sensor spotting problem with RSSI measurements do not deal with noisy channel conditions and/or heavily depend on additional hardware capabilities. In this work we reduce RSSI uctuations due to noise by continuously sampling RSSI values and maintaining an exponential moving average (EMA). The EMA values enable us to detect significant decrease of the received signal strength. In this case it is reasoned that the robot is moving away from the sensor. We present two basic variants to decide a new moving direction when the robot moves away from the sensor. Our simulations show that our approaches outperform competing algorithms in terms of success rate and ight time. Infield experiments with real hardware, a ying robocopter successfully and quickly landed near a sensor placed in an outdoor test environment. Traces show robustness to additional environmental factors not accounted for in our simulations.
ISBN 9781450331968
Language eng
DOI 10.1145/2695664.2695873
Field of Research 090602 Control Systems, Robotics and Automation
090603 Industrial Electronics
Socio Economic Objective 970108 Expanding Knowledge in the Information and Computing Sciences
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2015, ACM
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