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  • Research Article
  • Open Access

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

  • 1Email author,
  • 1,
  • 1 and
  • 1
EURASIP Journal on Advances in Signal Processing20092009:434597

  • Received: 31 July 2008
  • Accepted: 18 February 2009
  • Published:


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 Technology
  • Computer Simulation
  • Estimation Error
  • Wireless Communication
  • Quantum Information

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Authors’ Affiliations

Graduate School of Engineering, Osaka City University, Sumiyoshi-ku, Osaka 558-8585, 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.