Miniature six-channel range and bearing system: Algorithm, analysis and experimental validation

@article{Farrow2014MiniatureSR,
  title={Miniature six-channel range and bearing system: Algorithm, analysis and experimental validation},
  author={Nicholas Farrow and John Klingner and Dustin Reishus and Nikolaus Correll},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={6180-6185}
}
We present an algorithm, analysis, and implementation of a six-channel range and bearing system for swarm robot systems with sizes in the order of centimeters. The proposed approach relies on a custom sensor and receiver model, and collection of intensity signals from all possible sensor/emitter pairs. This allows us to improve range calculation by accounting for orientation-dependent variations in the transmitted intensity, as well as to determine the orientation of the emitting robot. We show… CONTINUE READING
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