Bluetooth network for micro-uavs for communication network and embedded range only localization

Abstract

The use of the Bluetooth smart technology as a communication framework to interconnect the robots is presented in this paper. Moreover, signal metrics of this network are used to provide an embedded Range Only localization scheme (RO-SLAM). When working with teams of robots, the communication between them is very important as it allows them to cooperate for the performing of the tasks. Additionally, being able to localize each other can allow the robots to optimize tasks and work more efficiently. Having both communication and localization integrated on-board in an small device is advantageous for micro-aerial systems in which payload is highly limited.