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Cooperative Communication, Localization, Sensing and Control for Autonomous Robotic Networks

Zhang, Siwei and Staudinger, Emanuel and Pöhlmann, Robert and Dammann, Armin (2021) Cooperative Communication, Localization, Sensing and Control for Autonomous Robotic Networks. In: 2021 IEEE International Conference on Autonomous Systems, ICAS 2021. IEEE International Conference on Autonomous Systems (IEEE ICAS 2021), 11-13 August 2021, Online. doi: 10.1109/ICAS49788.2021.9551201. ISBN 978-3-932182-91-4.

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Abstract

Networks composed of a myriad of autonomous robots have attracted increasing attention in recent years due to their enormous capability expansion from single robot systems. In these networks, robots benefit from the collaboration with each other to enhance their situation awareness for autonomous operation. For example, in an extraterrestrial exploration mission, a robotic swarm can collaboratively utilize the inter-robot communication system to propagate information, synchronize and navigate itself to achieve mission objectives like joint environmental sensing. In addition, each robot can decide and control its own trajectory, so that the aforementioned tasks are accomplished in a globally efficient manner. In this paper, we propose formation optimization strategies for autonomous robotic networks, which adapt to the mission demands on cooperative communication, localization and sensing. We also discuss three space exploration examples with different mission demands, which leads to distinct network formations. These three missions will be conceptually demonstrated in a space analog mission on the volcano Mount Etna in June 2022.

Item URL in elib:https://elib.dlr.de/142695/
Document Type:Conference or Workshop Item (Speech)
Title:Cooperative Communication, Localization, Sensing and Control for Autonomous Robotic Networks
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Zhang, SiweiUNSPECIFIEDhttps://orcid.org/0000-0003-4390-458XUNSPECIFIED
Staudinger, EmanuelUNSPECIFIEDhttps://orcid.org/0000-0002-9601-2887UNSPECIFIED
Pöhlmann, RobertUNSPECIFIEDhttps://orcid.org/0000-0001-7362-9406UNSPECIFIED
Dammann, ArminUNSPECIFIEDhttps://orcid.org/0000-0002-7112-1833UNSPECIFIED
Date:August 2021
Journal or Publication Title:2021 IEEE International Conference on Autonomous Systems, ICAS 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICAS49788.2021.9551201
ISBN:978-3-932182-91-4
Status:Published
Keywords:navigation cooperative communication localization sensing swarm multi-agent formation control space exploration estimation theory
Event Title:IEEE International Conference on Autonomous Systems (IEEE ICAS 2021)
Event Location:Online
Event Type:international Conference
Event Dates:11-13 August 2021
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
DLR - Research theme (Project):R - Swarm navigation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation
Institute of Communication and Navigation > Communications Systems
Deposited By: Zhang, Siwei
Deposited On:14 Jun 2021 13:39
Last Modified:20 Nov 2023 11:20

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