Swarm Localization With Dynamic Anchors in GPS-Denied Environments
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Solution Overview
Problem
In dynamic swarms of robotic agents, existing position tracking methods suffer from inaccuracies due to reliance on GPS in unavailable environments, static anchor inefficiencies, and iterative estimation drift errors, leading to localization errors that accumulate over time.
Innovation Solution
Implementing a dynamic anchor selection system where a subset of robotic agents act as stationary anchors, selected based on localization confidence, relative location, and other metrics, to facilitate accurate position estimation for non-stationary agents using range-based localization techniques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS is used for position tracking, then absolute position can be determined, but GPS is unavailable in indoor environments and some outdoor environments
Solution Approach 1:
The patent introduces wireless communication signals (WiFi, cellular, Bluetooth) as intermediary carriers to transfer positioning information between base stations and robotic agents. These communication signals serve as mediators that enable position determination in environments where GPS is unavailable, by establishing an alternative positioning infrastructure through distributed base stations that broadcast positioning data via standard wireless communication protocols
Solution Approach 2:
The patent replaces the GPS satellite-based radio positioning system with a ground-based wireless communication positioning system. Instead of relying on satellite signals, the system uses terrestrial base stations that transmit positioning information through conventional wireless communication channels (WiFi, cellular, Bluetooth), substituting the mechanical/satellite-based positioning mechanism with a communication-network-based mechanism that functions in GPS-denied environments
2Measurement precision
If static anchors are deployed for localization, then position estimation is possible, but the system becomes rigid and inefficient in dynamic applications
Solution Approach 1:
The patent transforms the static anchor system into a dynamic one where any robotic agent can become a base station (dynamic anchor) by broadcasting its known position and identity. This dynamic assignment allows the positioning infrastructure to adapt to changing environmental conditions and agent configurations, eliminating the need for pre-deployed static anchors while maintaining localization accuracy through continuously updating position references
Solution Approach 2:
The patent makes robotic agents multi-functional by enabling them to serve dual purposes: performing their primary mission tasks while simultaneously acting as dynamic base stations for positioning other agents. Each agent equipped with sensors and communication capabilities can function both as a mobile operational unit and as a stationary reference point when needed, eliminating the need for dedicated static anchor infrastructure
3Adaptability or versatility
If iterative estimation techniques are used, then position can be determined without GPS, but drift errors accumulate over time
Solution Approach 1:
The patent implements a feedback mechanism where robotic agents continuously receive positioning information from multiple base stations (both static and dynamic), compare their estimated position with the reference positions provided by base stations, and correct their position estimates in real-time. This continuous feedback loop prevents drift error accumulation by regularly resetting position estimates against known reference points from the base station network
Solution Approach 2:
The base stations serve as intermediary reference points that provide absolute position references to robotic agents, breaking the chain of relative position estimation that causes drift. By introducing these intermediary reference sources that broadcast their known positions, the system periodically resets cumulative errors without requiring GPS, maintaining long-term positioning accuracy through continuous reference updates
Data Source
AI summary
An apparatus comprises at least one sensor to collect localization information indicating a location of a first robotic agent of a plurality of robotic agents; and a processor comprising circuitry. The processor is to cause the first robotic agent to move and to utilize the at least one sensor and other robotic agents of the plurality of robotic agents to determine the location of the first robotic agent during a first period of time in which the first robotic agent is not selected as an anchor reference point; and cause the first robotic agent to remain stationary during a second period of time in which the first robotic agent is selected as an anchor reference point to assist other robotic agents of the plurality of robotic agents in location determination.