Cooperative multi-robot relative positioning using round-trip ultrasonic ranging network in indoor environment

Hany Geris
Research on ultrasonic ranging localization networks is being pursued for use in cooperative multi-robot systems. Many network topology variants have been developed. However, it is difficult to meaningfully compare them. This is due to the utilization of different terminologies in describing their conceptual design instead of exploiting the popular computer network terms. In this thesis, a novel round-trip ultrasonic positioning network is developed for indoor environments. The proposed technique keeps the overall hardware cost at...
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