Distributed and resilient localization algorithm for Swarm Robotic Systems

Many applications of Swarm Robotic Systems (SRSs) require each robot to be able to discover its own position. To provide such capability, some localization methods have been proposed, in which the positions of the robots are estimated based on a set of reference nodes in the swarm. In this paper, a distributed and resilient localization algorithm is proposed based on the BSA–MMA algorithm, which uses the Backtracking Search Algorithm (BSA) and the Min–Max Area (MMA) confidence factor. It is designed in a novel four-stage approach, where a new method, called Multi-hop Collaborative Min–Max Localization (MCMM), is included to improve the resilience in case of failures during the recognition of the reference nodes. The results, obtained with real Kilobot robots, show 28–36% of performance improvement obtained by the MCMM. Also, it is shown that the final result of the localization process is better when the MCMM is executed than if it is not executed. The experiments outcomes demonstrate that the novel four-stage approach and the use of the MCMM algorithm represents a progress in the design of distributed localization algorithms for SRS, especially with regard to its resilience.

[1]  Raghava Srinivasa Nallanthighal,et al.  Improved Grid-Scan Localization Algorithm for Wireless Sensor Networks , 2014 .

[2]  Francesco Mondada,et al.  The e-puck, a Robot Designed for Education in Engineering , 2009 .

[3]  Fatos Xhafa,et al.  Application of a JXTA-Overlay P2P Control System for a Biped Walking Robot , 2010, 2010 International Conference on Broadband, Wireless Computing, Communication and Applications.

[4]  Radhika Nagpal,et al.  Kilobot: A low cost scalable robot system for collective behaviors , 2012, 2012 IEEE International Conference on Robotics and Automation.

[5]  Roberto Sadao Yokoyama,et al.  An architecture for secure positioning in a UAV swarm using RSSI-based distance estimation , 2014, SIAP.

[6]  Jan M. Rabaey,et al.  Robust Positioning Algorithms for Distributed Ad-Hoc Wireless Sensor Networks , 2002, USENIX Annual Technical Conference, General Track.

[7]  Fatos Xhafa,et al.  A fuzzy-based reliability system for knowledge sharing between robots in P2P JXTA-overlay platform , 2012, Cluster Computing.

[8]  Dinko Begusic,et al.  Fingerprinting based localization in heterogeneous wireless networks , 2014, Expert Syst. Appl..

[9]  Mani B. Srivastava,et al.  The bits and flops of the n-hop multilateration primitive for node localization problems , 2002, WSNA '02.

[10]  Gyula Mester,et al.  Ambient intelligent robot-sensor networks for environmental surveillance and remote sensing , 2009, 2009 7th International Symposium on Intelligent Systems and Informatics.

[11]  Pinar Çivicioglu,et al.  Backtracking Search Optimization Algorithm for numerical optimization problems , 2013, Appl. Math. Comput..

[12]  Theodore Antonakopoulos,et al.  CSMA/CA performance under high traffic conditions: throughput and delay analysis , 2002, Comput. Commun..

[13]  Kim Sook-Yeon,et al.  Location Estimation based on Edge Weights in Wireless Sensor Networks , 2005 .

[14]  Radhika Nagpal,et al.  Collective transport of complex objects by simple robots: theory and experiments , 2013, AAMAS.

[15]  Soohan Kim,et al.  A soft computing approach to localization in wireless sensor networks , 2009, Expert Syst. Appl..

[16]  Edith C. H. Ngai,et al.  A distributed Swarm-Intelligent Localization for sensor networks with mobile nodes , 2011, 2011 7th International Wireless Communications and Mobile Computing Conference.

[17]  Erol Sahin,et al.  Swarm Robotics: From Sources of Inspiration to Domains of Application , 2004, Swarm Robotics.

[18]  Luigi Fortuna,et al.  Multi-robot localization and orientation estimation using robotic cluster matching algorithm , 2015, Robotics Auton. Syst..

[19]  Peter Corke,et al.  mu-AV - Design and implementation of an open source micro quadrotor , 2013, ICRA 2013.

[20]  Brian D. O. Anderson,et al.  Wireless sensor network localization techniques , 2007, Comput. Networks.

[21]  Seungryong Kim,et al.  A multi-vision sensor-based fast localization system with image matching for challenging outdoor environments , 2015, Expert Syst. Appl..

[22]  Mort Naraghi-Pour,et al.  A Novel Algorithm for Distributed Localization in Wireless Sensor Networks , 2014, TOSN.

[23]  Hui Xiong,et al.  Robust TDOA Localization Algorithm for Asynchronous Wireless Sensor Networks , 2015, Int. J. Distributed Sens. Networks.

[24]  Koen Langendoen,et al.  Distributed localization in wireless sensor networks: a quantitative compariso , 2003, Comput. Networks.

[25]  Agathoniki Trigoni,et al.  An Underwater Robotic Network for Monitoring Nuclear Waste Storage Pools , 2009, S-CUBE.

[26]  Radhika Nagpal,et al.  Programmable self-assembly in a thousand-robot swarm , 2014, Science.

[27]  Andreas Savvides,et al.  An Empirical Characterization of Radio Signal Strength Variability in 3-D IEEE 802.15.4 Networks Using Monopole Antennas , 2006, EWSN.

[28]  Manuel Mazo,et al.  An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System , 2014, Sensors.

[29]  Stefano Panzieri,et al.  A joint routing and localization algorithm for emergency scenario , 2014, Ad Hoc Networks.

[30]  Deborah Estrin,et al.  GPS-less low-cost outdoor localization for very small devices , 2000, IEEE Wirel. Commun..

[31]  Nadia Nedjah,et al.  Distributed efficient localization in swarm robotic systems using swarm intelligence algorithms , 2016, Neurocomputing.

[32]  Bhaskar Krishnamachari,et al.  A BIM centered indoor localization algorithm to support building fire emergency response operations , 2014 .

[33]  Luca Calderoni,et al.  Indoor localization in a hospital environment using Random Forest classifiers , 2015, Expert Syst. Appl..

[34]  Kung Yao,et al.  Distributed algorithm for node localization in wireless ad-hoc networks , 2010, TOSN.

[35]  B. R. Badrinath,et al.  Ad hoc positioning system (APS) , 2001, GLOBECOM'01. IEEE Global Telecommunications Conference (Cat. No.01CH37270).

[36]  Nadia Nedjah,et al.  Genetic and Backtracking Search Optimization Algorithms Applied to Localization Problems , 2014, ICCSA.

[37]  Nadia Nedjah,et al.  Multi-hop Collaborative Min-Max localization , 2015, 2015 IEEE 6th Latin American Symposium on Circuits & Systems (LASCAS).

[38]  Pontus Ekberg.  Swarm-Intelligent Localization , 2009 .

[39]  Wei-Min Shen,et al.  Self-assembly and self-healing for robotic collectives , 2010 .

[40]  José A. Gallud,et al.  Improving location awareness in indoor spaces using RFID technology , 2010, Expert Syst. Appl..

[41]  Radhika Nagpal,et al.  Kilobot: A low cost robot with scalable operations designed for collective behaviors , 2014, Robotics Auton. Syst..