STAM: A System of Tracking and Mapping in Real Environments
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Applied Mechanics
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Mechanical Engineering
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We have implemented a system of tracking mobile robots and mapping an unstructured environment, using up to 25 wireless sensor nodes in an indoor setting. These sensor nodes form an ad hoc network of beacons, self-localize with respect to three anchor nodes, and then track the locations of mobile robots in the field. The system described here was motivated by search and rescue applications, and has been demonstrated in real physical environments.
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Copyright 2004 IEEE. Reprinted from IEEE Wireless Communications, Volume 11, Issue 6, December 2004, pages 87-96. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.