Robotic Swarm Localization Using Ranging Radios

Abstract

A system for localizing a swarm of robotic platforms utilizing ranging sensors. The swarm is localized by purposely leaving some of the platforms of the swarm stationary, providing localization to the moving ones. The platforms in the swarm can alternate between a stationary and moving state.

The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows: 
     
         1 . A method for robotic swarm localization using ranging sensors, comprising the steps of:
 a group of one or more moving platforms that are localized by:
 ranging sensors capable of measuring the distance between the platforms; and 
 the platforms leave behind/drop/marsupial setup at least three sensors that are maintained stationary at the same time. 
   
     
     
         2 . The method for robotic swarm localization of  claim 1 , further comprising the step of
 optimizing the topology of the platforms or sensors left stationary as to minimize the error propagation of this swarm.   
     
     
         3 . The method for robotic swarm localization of  claim 1 , wherein
 the swarm is composed of either or ground, underwater, surface, or flying platforms.   
     
     
         4 . The method for robotic swarm localization of  claim 3 , wherein
 the platforms can be manned or unmanned.   
     
     
         5 . A method for robotic swarm localization using ranging sensors, comprising the steps of:
 a group of moving platforms that are localized by:
 ranging sensors capable of measuring the distance between the platforms; and 
 at least three sensors left behind by another mechanism other than the platform in ad hoc positions that are maintained stationary at the same time. 
   
     
     
         6 . The method for robotic swarm localization of  claim 5 , further comprising the step of
 optimizing the topology of the platforms or sensors left stationary as to minimize the error propagation of this swarm.   
     
     
         7 . The method for robotic swarm localization of  claim 5 , wherein
 the swarm is composed of either or ground, underwater, surface, or flying platforms.   
     
     
         8 . The method for robotic swarm localization of  claim 7 , wherein
 the platforms can be manned or unmanned.