TY - GEN
T1 - Projection-based localization and navigation method for multiple mobile robots with pixel-level visible light communication
AU - Hiraki, Takefumi
AU - Fukushima, Shogo
AU - Naemura, Takeshi
N1 - Funding Information:
This work was supported by CREST, JST. We would like to thank Issei Takahashi, Rei Kawakami and Takuya Umedachi for their advice and reviews of our paper.
Publisher Copyright:
© 2016 IEEE.
PY - 2017/2/6
Y1 - 2017/2/6
N2 - We propose a novel method for the localization and navigation of multiple mobile robots. Our method uses coded light superimposed onto a visual image and projected onto the robots. Robots localize their position by receiving and decoding the projected light, and can follow a target using the coded velocity vector field. Localization and navigation information can be independently conveyed in each pixel, and we can change this information over time. The entire system only requires a projector to navigate the robot swarm; thus, it can be used on any projection surface. To navigate the robots, they only need to be placed within the projection area. We experimentally assess the localization accuracy of our system for both stationary and moving robots. To further illustrate the utility of our proposed system, we demonstrate the navigation of multiple mobile robots in vector fields that vary both spatially and temporally.
AB - We propose a novel method for the localization and navigation of multiple mobile robots. Our method uses coded light superimposed onto a visual image and projected onto the robots. Robots localize their position by receiving and decoding the projected light, and can follow a target using the coded velocity vector field. Localization and navigation information can be independently conveyed in each pixel, and we can change this information over time. The entire system only requires a projector to navigate the robot swarm; thus, it can be used on any projection surface. To navigate the robots, they only need to be placed within the projection area. We experimentally assess the localization accuracy of our system for both stationary and moving robots. To further illustrate the utility of our proposed system, we demonstrate the navigation of multiple mobile robots in vector fields that vary both spatially and temporally.
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U2 - 10.1109/SII.2016.7844108
DO - 10.1109/SII.2016.7844108
M3 - Conference contribution
AN - SCOPUS:85015396921
T3 - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
SP - 862
EP - 868
BT - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/SICE International Symposium on System Integration, SII 2016
Y2 - 13 December 2016 through 15 December 2016
ER -