Dynamic localization with hybrid trilateration for mobile robots in intelligent space

Siegwart R, Nourbakhsh IR (2004) Introduction to autonomous mobile robots, A Bradford Book. The MIT Press, Everett HR (1995) Sensors for mobile robots, theory and applications. A. K. Peters, Ltd., New York Chong H, Walker S, Eiamsa-Ard K, Burdick J (2000) Sensor-based exploration: incremental construction of the hierarchical generalized voronoi graph. Int J Robot Res 19: 126–148 Russel S, Norvig P (1995) Artificial intelligence, a modern approach. Prentice Hall International Latombe J-C, Barraquand J (1991) Robot motion planning: a distributed presentation approach. Int J Robot Res 10: 628–649 Latombe J-C (1991) Robot motion planning. Kluwer Academic Publishers, Norwood Lee JH, Lee BH, Choi MH (1998) A real time traffic control scheme of multiple AGV systems for collision free minimum time motion: a routing table approach. IEEE Trans Syst Man Cybernet Part A Syst Humans 28(3): 347–358 Park JB, Lee JH, Lee BH (2006) Online turnover-free control for a mobile agent with a terrain prediction sensor. J Field Robot 23(1): 59–77 Park SH, Lee BH (2006) A new analytical representation to robot path generation with collision avoidance through the use of the collision map. Int J Control Automat Syst 4(1): 77–86 Park JB, Lee JH, Lee BH (2006) Rollover-free navigation for a mobile agent in an unstructured environment. IEEE Trans Syst Man Cybernet Part B: Cybernet 36(3): 835–848 Park SH, Lee BH (2006) Analysis of robot collision characteristics using the concept of the collision map. Robotica 24: 295–303 Priyantha NB (2005) The cricket indoor location system. Ph.D. Thesis, Massachusetts Institute of Technology, June 2005 Getting I (1993) The global positioning system. IEEE Spectr 30(12): 36–47 Hecht E (2002) Optics 4th edn. Addison-Wesley, Reading Merrill IS (2002) Introduction to radar systems 3rd edn. McGraw-Hill, New York Hoffmann-Wellenhof B, Lichtenegger H, Collins J (1997) Global positioning system: theory and practice 4th edn. Springer, New York Enhanced 911 services. http://www.fcc.gov/911/enhanced/ Helfrick A (2004) Principles of avionics 3rd edn. Avionics Communications Inc., Leesburg Pierce JA (1990) An introduction to Loran. Aerospace Electr Syst Mag IEEE 5(10): 16–33 Doherty L, Pister K, Ghaoui L (2001) Convex position estimation in wireless sensor networks. In: Proceedings IEEE INFOCOM, pp. 1655–1663, Anchorage, AK, April 2001 Ladd AM, Bekris KE, Rudys A, Marceau G, Kavraki LE, Wallach DS (2002) Robotics-based location sensing using wireless Ethernet. In: Proceedings of the 8th ACM MOBICOM Conference, pp. 227–238, Atlanta, GA, September 2002 Harter A, Hopper A (1997) A new location technique for the active office. IEEE Personal Communi 4(5): 43–47 Want R, Hopper A, Falcao V, Gibbons J (1992) The active badge location system. ACM Trans Informat Syst 10(1): 91–102 Welch G, Bishop G (1997) SCAAT: Incremental tracking with incomplete information. Comput Graphics 31: 333–344 Chung WC, Ha DS (2003) An accurate Ultra Wideband (UWB) ranging for precision asset location. In: International conference on ultra wideband systems and technologies, Reston, VA, Novomber 2003 pp. 389–393 Hazas M, Ward A (2002) A novel broadband ultrasonic location system. In: Proceedings of UbiComp 2002: ubiquitous computing, Goteborg, Sweden, Septemper 2002 pp. 264–280 Girod L, Estrin D (2001) Robust range estimation using acoustic and multimodal sensing. In: IEEE/RSJ international conference on intelligent robots and systems (IROS), Maui, HI, October 2001 Navarro-Serment LE, Paredis CJJ, Khosla P (1999) A beacon system for the localization of distributed robotic teams. In: Proceedings of the international conference field and service robots, Pittsburgh, PA, August 1999, pp. 232–237 Bruyninckx H (1999) Forward kinematics for Hunt–Primrose parallel manipulators. Mech Mach Theory 34: 657–664 Manolakis DE (1996) Efficient solution and performance analysis of 3-D position estimation by trilateration. IEEE Trans Aerosp Electron Syst 32: 1239–1248 Mackay AL (1974) Generalized structural geometry. Acta Crystalograph A 30: 440–447 Eberly D (1996) Finding the intersection of three spheres, comp.graphics.algorithms newsgroup Thomas F, Ros L (2005) Revisiting trilateration for robot localization. IEEE Trans Robot 1(1): 93–101 Cayley A (1841) A theorem in the geometry of position. Cambridge Math J 2: 267–271 Cayley A (1963) A theorem in the geometry of position. In: Collected mathematical papers of arthur cayley. Cambridge University Press, Cambridge Coope ID (2000) Reliable computation of the points of intersection of n spheres in Rn. Austral, New Zealand Ind Appl Math J., Pt C, 42: 461–477 Balakrishnan H, Baliga R, Curtis D, Goraczko M, Miu A, Priyantha NB, Smith A, Steele K, Teller S, Wang K (2003) Lessons from developing and deploying the cricket indoor location system. November 2003 Blumenthal LM (1953) Theory and applications of distance geometry. Oxford University Press, Oxford Kleeman L (1992) Optimal estimation of position and heading for mobile robots using ultrasonic beacons and dead-reckoning. IEEE international conference on robotics and automation, Nice, France, pp mn2582–2587 Fletcher R (1987) Practical Methods of Optimization 2nd edn. John Wiley & Sons, New York Lee J-H, Ando N, Hashimoto H (1999) Design policy of intelligent space. Syst Man Cybernet http://www.evolution.com/products/northstar Chae HS, Lee JY, Yu WP, Doh NL (2005) StarLITE: a new artificial landmark for the navigation of mobile robots. In: Japan–Korea joint symposium on network robot systems November 2005