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A RSSI based Locating Algorithm for Multi-Robot System

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dc.contributor.advisor Wang, Xin en_US
dc.contributor.author Wang, Pan en_US
dc.contributor.other Department of Electrical Engineering en_US
dc.date.accessioned 2017-09-20T16:52:48Z
dc.date.available 2017-09-20T16:52:48Z
dc.date.issued 2013-12-01 en_US
dc.identifier.uri http://hdl.handle.net/11401/77492 en_US
dc.description 41 pgs en_US
dc.description.abstract An algorithm based on Received Signal Strength Indicator (RSSI) is designed for locating a wireless signal source in Multi-Robot System (MRS). Mobile robots are initially assigned to different locations. They are either sending or sensing wireless signals. The purpose of the algorithm is to establish communication among robots by locating the signal sources. Three main behavior modes of a robot are proposed for the algorithm skeleton through behavior-based analyzing. A log-distance path loss model is adopted for representing Received Signal Strength Indicator (RSSI) on a grid map. The locating process is a gradient-based motion control which refers to the RSSI measurement in the grid map. We simulated the locating algorithm in Matlab. The result of the simulation demonstrates a good locating result in a RSSI map without fading effect. In a RSSI map with Rayleigh fading, multiple movements and variations in step size are integrated into the algorithm to cope with measurement errors by the fading effect of the RSSI. en_US
dc.description.sponsorship This work is sponsored by the Stony Brook University Graduate School in compliance with the requirements for completion of degree. en_US
dc.format Monograph en_US
dc.format.medium Electronic Resource en_US
dc.language.iso en_US en_US
dc.publisher The Graduate School, Stony Brook University: Stony Brook, NY. en_US
dc.subject.lcsh Electrical engineering en_US
dc.title A RSSI based Locating Algorithm for Multi-Robot System en_US
dc.type Thesis en_US
dc.mimetype Application/PDF en_US
dc.contributor.committeemember Zuo, Lei en_US

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