STAM: a system of tracking and mapping in real environments
We investigate the active deployment of networked beacons in hazardous, unstructured environments. The system has a teleoperated snake-like robot, a set of wireless sensor nodes (used as beacons), and a remote control station. The teleoperated robot explores the environment and at the same time leaves sensor nodes at various points. These sensor nodes form an ad hoc network which is used to produce a map of the environment at the remote control station, as well as tracking the location of the robot. The system described here is demonstrated in a search and rescue scenario in which the sensor nodes also activate patterns of lights to help guide rescuers to victims.
Zhang, Y. ; Ackerson, L. ; Duff, D. G. ; Eldershaw, C. ; Yim, M. H. STAM: a system of tracking and mapping in real environments. IEEE Wireless Communications. 2004 December; 11 (6): 87-96.