Decentralized Searching of Multiple Unknown and Transient Radio Sources with Paired Robots

In this paper, we develop a decentralized algorithm to coord inate a group of mobile robots to search for unknown and transient radio sources. In addition to limited mobility and ranges of communication and sensing, the robot team has to deal with challenges from signal source anonymity, short transmission duration, and variable transmission power. We propose a two-step approach: First, we decentralize belief functions that robots use to track source locations using checkpoint-based synchronization, and second, we propose a decentralized planning strategy to coordinate robots to ensure the existence of checkpoints. We analyze memory usage, data amount in communication, and searching time for the proposed algorithm. We have implemented the proposed algorithm and compared it with two heuristics. The experimental results show that our algorithm successfully trades a modest amount of memory for the fastest searching time among the three methods.

虚拟环境下距离知觉的加工与整合

距离知觉是判断环境中自我与物体之间的距离或者是物体与物体之间的距离,本文简要介绍了虚拟环境下的距离信息线索的加工以及多感官的整合,系统回顾近年来对距离知觉的研究与探索,并对其进行评价。最后,讨论了运用虚拟现实技术研究距离知觉的一些局限性,并对于未来的研究趋势进行了展望。