INVESTIGATION ON THE EVOLUTION OF AN INDOOR ROBOTIC LOCALIZATION SYSTEM BASED ON WIRELESS NETWORKS

Author(s)

Pessin, Gustavo ^{[1, 2]} ; Osorio, Fernando S. ^[1] ; Souza, Jefferson R. ^[1] ; Ueyama, Jo ^[1] ; Costa, Fausto G. ^[1] ; Wolf, Denis F. ^[1] ; Dimitrova, Desislava ^[3] ; Braun, Torsten ^[3] ; Vargas, Patricia A. ^[2]

Affiliation

^[1] Univ Sao Paulo, Inst Math & Comp Sci ICMC, Sao Paulo - Brazil

^[2] Heriot Watt Univ, Sch Math & Comp Sci MACS, Edinburgh, Midlothian - Scotland

^[3] Univ Bern, Inst Comp Sci & Appl Math, Bern - Switzerland

• Document type: Journal article
• Source: APPLIED ARTIFICIAL INTELLIGENCE; v. 27, n. 8, p. 743-758, SEP 14 2013.
• Web of Science Citations: 6

Abstract

This work addresses the evolution of an artificial neural network (ANN) to assist in the problem of indoor robotic localization. We investigate the design and building of an autonomous localization system based on information gathered from wireless networks (WN). The article focuses on the evolved ANN, which provides the position of a robot in a space, as in a Cartesian coordinate system, corroborating with the evolutionary robotic research area and showing its practical viability. The proposed system was tested in several experiments, evaluating not only the impact of different evolutionary computation parameters but also the role of the transfer functions on the evolution of the ANN. Results show that slight variations in the parameters lead to significant differences on the evolution process and, therefore, in the accuracy of the robot position. (AU)

• FAPESP's process: 08/57870-9 - Critical Embedded Systems Institute
• Grantee: Jose Carlos Maldonado
• Support Opportunities: Research Projects - Thematic Grants
• FAPESP's process: 08/05346-4 - Exploiting parallelism and dynamic reconfiguration in sensor networks
• Grantee: Jó Ueyama
• Support Opportunities: Research Grants - Young Investigators Grants