MIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Graduate Theses
  • View Item
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Graduate Theses
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Sensor distribution for collaborative localization using radio ranging

Author(s)
Werner, Benjamin Alfred S
Thumbnail
DownloadFull printable version (34.19Mb)
Other Contributors
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Advisor
Nicholas Roy and Megan Mitchell.
Terms of use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582
Metadata
Show full item record
Abstract
This thesis explores the localization of a group of networked agents using range measurements between themselves in a global reference frame. While operating in an environment with sparse Global Positioning System availability and intermittent inter-agent range measurements, additional sensors may be needed to maintain a given level of position accuracy. This research explores the balance between penalties associated with the addition of sensors and the ability to localize all agents to a specified accuracy. The problem is defined as an optimization formulation that minimizes the cost of additional sensors over the group while requiring accurate positioning knowledge for all agents. The first result of this thesis is a novel method for solving the posed optimization problem. This method avoids searching all possible instrumentations by exploiting structure in the problem: testing a single sensor configuration for localization accuracy sometimes allows for implicit elimination of multiple configurations. Discerning the best configuration to test for localization accuracy decreases the re- quired search time to solve the optimization problem. The second contribution of this thesis comes from the application of the optimization's search procedure to problem of distributing inertial measurement units to a group of agents. The effects of various environmental conditions on the required distribution of inertial measurement units are investigated.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2008.
 
Includes bibliographical references (p. 119-122).
 
Date issued
2008
URI
http://hdl.handle.net/1721.1/51649
Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Publisher
Massachusetts Institute of Technology
Keywords
Aeronautics and Astronautics.

Collections
  • Graduate Theses

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries
PrivacyPermissionsAccessibilityContact us
MIT
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.