This document proposes sensor deployment strategies for indoor robot navigation. It discusses using a wireless sensor network to provide localization services for robots. The minimum sensor deployment problem is NP-hard. The document presents an initial construction technique that divides the environment graph and estimates errors, then refines placements. It evaluates strategies using testbeds and metrics like deployment set size, configuration error, and refinement ratio.
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Invited talk: Sensor deployment strategies for indoor robot navigation
1. Sensor-Deployment Strategies for
Indoor Robot Navigation
Aaron Chun-Han Lin 林均翰
Research Center for Information Technology Innovation
Academia Sinica
Tel: 886-2-2787-2335 Fax: 886-2-2787-2372
Email: chunhan@citi.sinica.edu.tw
2. Previous Project
ITRI project
Demo video
Sensor-Deployment Strategies for
Indoor Robot Navigation
2 2011/8/11
3. Sensor
Detection
Display
15-20%
cost
Embedded system
Market prediction of MEMS sensor on cellular phone
3 2011/8/11
9. Indoor Robot
Space navigation
Security
Housekeeping
Delivery
Medical
…
http://www.worldrobotics.org/
9 2011/8/11
10. Robot Navigation
Localization
Positioning sensor
A set of sensors can
provide localization
service
Wireless
Infrastructure
Coverage
10 2011/8/11
11. Challenge
Traditional deployment
Full coverage
Tradeoff
Cost Coverage
Positioning sensor
How
Reducing sensor
Where
Keeping coverage
Acceptable error
11 2011/8/11
12. Error Model
Target model
x’ = x + d cos(q+r)
y’ = y + d sin(q+r)
q ’=(q+r) mod 2p
Actual configuration P(f)
Configuration error
err(f)=max(P(f) – f)
|err(f)|
=|max(P(f) – f)|
=(max((P(x) – x)2 +
(P(y) – y)2))1/2 Positioning sensor
12 2011/8/11
13. Minimum Deployment-Set Problem
MDS (G, Errmax)
Width of hallway
Width of track
…
The minimum
deployment-set problem is
NP-hard
Vertex cover problem
13 2011/8/11