@article{corke:robotlocnav, 
    author = {Peter Corke and Ron Peterson and Daniela Rus}, 
    title = {Communication-assisted Localization and Navigation for Networked
Robots}, 
    journal = {International Journal of Robotics Research}, 
    year = {2004}, 
    month = {June}, 
    publisher = {Sage Publications}, 
    copyright = {Sage Publications}, 
    note = {Accepted for publication.}, 
    url = {http://cmc.cs.dartmouth.edu/papers/corke:robotlocnav.pdf}, 
    keyword = {sensor network, wireless, ad hoc network, MANET, mobile computing,
helicopter, UAV}, 
    abstract = {This paper introduces the application of a sensor network to
navigate a flying robot. We have developed distributed algorithms and
efficient geographic routing techniques to incrementally guide one or more
robots to points of interest based on sensor gradient fields, or along paths
defined in terms of Cartesian coordinates. These include a distributed
robot-assisted localization algorithm, a distributed communication-assisted
path computation algorithm for the robot and a distributed
communication-assisted navigation algorithm to guide the robot. The robot
itself is an integral part of the localization process which establishes the
positions of sensors which are not known a priori. The sensor network is an
integral part of the computation and storage of the robot's path. We use this
system in a large-scale outdoor experiment with Mote sensors to guide an
autonomous helicopter along a path encoded in the network. We also describe
how a human can be guided using a simple handheld device that interfaces to
this same environmental infrastructure.}, 
}