Path Planning in GPS-denied Environments via Collective Intelligence of Distributed Sensor Networks

摘要: ABSTRACTThis paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used localising regions of interest path planning an autonomous robot. The underlying theory extension generalised gossip algorithm that has been recently developed language-measure-theoretic setting. to propagate local decisions target detection over and thus, it generates belief map the detected network. In this setting, robot may communicate only with few sensing nodes its own neighbourhood localise itself relative communicating bounded uncertainties. makes use knowledge based on sensors generate sequence way-points, leading possible goal. estimated way-points are by sampling-based motion algo...