From Robot Self-Localization to Global-Localization: An RSSI Based Approach

TL;DR

This paper introduces a novel RSSI-based method for global localization in robot swarms, enabling robots to localize themselves in unknown, GPS-free environments by using stationary robots as beacons to establish a common reference frame.

Contribution

It extends the LadyBug localization scheme to enable global localization in GPS-free environments using stationary robots as beacons for a shared reference frame.

Findings

Promising experimental results demonstrate the effectiveness of the approach.

The method successfully localizes robots in unknown environments without GPS or landmarks.

Stationary robots effectively serve as beacons to establish a global reference frame.

Abstract

Localization is a crucial task for autonomous mobile robots in order to successfully move to goal locations in their environment. Usually, this is done in a robot-centric manner, where the robot maintains a map with its body in the center. In swarm robotics applications, where a group of robots needs to coordinate in order to achieve their common goals, robot-centric localization will not suffice as each member of the swarm has its own frame of reference. One way to deal with this problem is to create, maintain and share a common map (global coordinate system), among the members of the swarm. This paper presents an approach to global localization for a group of robots in unknown, GPS and landmark free environments that extends the localization scheme of the LadyBug algorithm. The main idea relies on members of the swarm staying still and acting as beacons, emitting electromagnetic signals. These stationary robots form a global frame of reference and the rest of the group localize themselves in it using the Received Signal Strength Indicator (RSSI). The proposed method is evaluated, and the results obtained from the experiments are promising.