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A Survey of Robot Swarms’ Relative Localization Method
For robot swarm applications, accurate positioning is one of the most important requirements for avoiding collisions and keeping formations and cooperation between individuals. However, in some worst cases, the GNSS (Global Navigation Satellite System) signals are weak due to the crowd being in a sw...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9230124/ https://www.ncbi.nlm.nih.gov/pubmed/35746206 http://dx.doi.org/10.3390/s22124424 |
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author | Chen, Siyuan Yin, Dong Niu, Yifeng |
author_facet | Chen, Siyuan Yin, Dong Niu, Yifeng |
author_sort | Chen, Siyuan |
collection | PubMed |
description | For robot swarm applications, accurate positioning is one of the most important requirements for avoiding collisions and keeping formations and cooperation between individuals. However, in some worst cases, the GNSS (Global Navigation Satellite System) signals are weak due to the crowd being in a swarm or blocked by a forest, mountains, and high buildings in the environment. Thus, relative localization is an indispensable way to provide position information for the swarm. In this paper, we review the status and development of relative localization. It is first assessed that relative localization to obtain spatio-temporal relationships between individuals is necessary to achieve the stable operation of the group. After analyzing typical relative localization systems and algorithms from the perspective of functionality and practicality, this paper concludes that the UWB-based (ultra wideband) system is suitable for the relative localization of robots in large-scale applications. Finally, after analyzing the current challenges in the field of fully distributed localization for robotic swarms, a complete mechanism encompassing the relative localization process and the relationship between local and global localization that can be a possible direction for future research is proposed. |
format | Online Article Text |
id | pubmed-9230124 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-92301242022-06-25 A Survey of Robot Swarms’ Relative Localization Method Chen, Siyuan Yin, Dong Niu, Yifeng Sensors (Basel) Review For robot swarm applications, accurate positioning is one of the most important requirements for avoiding collisions and keeping formations and cooperation between individuals. However, in some worst cases, the GNSS (Global Navigation Satellite System) signals are weak due to the crowd being in a swarm or blocked by a forest, mountains, and high buildings in the environment. Thus, relative localization is an indispensable way to provide position information for the swarm. In this paper, we review the status and development of relative localization. It is first assessed that relative localization to obtain spatio-temporal relationships between individuals is necessary to achieve the stable operation of the group. After analyzing typical relative localization systems and algorithms from the perspective of functionality and practicality, this paper concludes that the UWB-based (ultra wideband) system is suitable for the relative localization of robots in large-scale applications. Finally, after analyzing the current challenges in the field of fully distributed localization for robotic swarms, a complete mechanism encompassing the relative localization process and the relationship between local and global localization that can be a possible direction for future research is proposed. MDPI 2022-06-11 /pmc/articles/PMC9230124/ /pubmed/35746206 http://dx.doi.org/10.3390/s22124424 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Review Chen, Siyuan Yin, Dong Niu, Yifeng A Survey of Robot Swarms’ Relative Localization Method |
title | A Survey of Robot Swarms’ Relative Localization Method |
title_full | A Survey of Robot Swarms’ Relative Localization Method |
title_fullStr | A Survey of Robot Swarms’ Relative Localization Method |
title_full_unstemmed | A Survey of Robot Swarms’ Relative Localization Method |
title_short | A Survey of Robot Swarms’ Relative Localization Method |
title_sort | survey of robot swarms’ relative localization method |
topic | Review |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9230124/ https://www.ncbi.nlm.nih.gov/pubmed/35746206 http://dx.doi.org/10.3390/s22124424 |
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