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Open Access

A Common Coordinates/Heading Direction Generation Method for a Robot Swarm with Only RSSI-Based Ranging

  • Shinsuke Hara1Email author,
  • Tatsuya Ishimoto1,
  • Masaya Kitano1 and
  • Tetsuo Tsujioka1
EURASIP Journal on Advances in Signal Processing20092009:434597

Received: 31 July 2008

Accepted: 18 February 2009

Published: 25 March 2009


In the motion control of a microrobot swarm, a key issue is how to autonomously generate a set of common coordinates among all robots and how to notify each robot of its heading direction in the generated common coordinates without any special devices for estimating location and bearing. This paper proposes a set of common coordinates and a heading direction generation method for a robot swarm with only received signal strength indicator (RSSI) measured through wireless communications. We explain the principle of the proposed method and show some computer simulation results on the location and direction estimation errors. Finally, we demonstrate some experimental results using a swarm composed of five robots with the IEEE 802.15.4 standard as its wireless communication tool.


Information TechnologyComputer SimulationEstimation ErrorWireless CommunicationQuantum Information

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Authors’ Affiliations

Graduate School of Engineering, Osaka City University, Osaka, Japan


© Shinsuke Hara et al. 2009

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.