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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/14231

Title: Communication packet loss concealment for pattern generation with robotic swarms
Authors: Shinnoh, Atsushi
Chong, Nak Young
Lee, Geunho
Keywords: swarm robotics
packet loss concealment
exponential function extrapolation
computational efficiency
estimation accuracy
Issue Date: 2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Start page: 537
End page: 542
DOI: 10.1109/AIM.2015.7222590
Abstract: In swarm robotics, a multitude of very simple robots often move to achieve pre-defined geometric patterns while communicating with each other. Robots are able to estimate their position and relocate themselves by obtaining other robots’ position information. However, as is the often the case in wireless communication, robots cannot receive other robots’ position information reliably. Thus, they need to deal with the packet loss problem and estimate the missing information in near-real time. Several nonlinear filters such as extended Kalman filters or particle filters have been widely used for many years. But these filters require enormous computational complexity, so it is difficult to be applied to low-cost mobile robots with limited computational and memory resources. To overcome this problem, we propose an extrapolating method with reduced computational cost yet high estimation accuracy. Specifically, we propose a novel exponential function concealment with linear blends, and validate its effectiveness and rate of convergence through extensive simulations.
Rights: This is the author's version of the work. Copyright (C) 2015 IEEE. 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015, 537-542. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/14231
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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