{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,26]],"date-time":"2026-03-26T15:30:20Z","timestamp":1774539020546,"version":"3.50.1"},"reference-count":62,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2020,4,17]],"date-time":"2020-04-17T00:00:00Z","timestamp":1587081600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100006785","name":"Google","doi-asserted-by":"crossref","id":[{"id":"10.13039\/100006785","id-type":"DOI","asserted-by":"crossref"}]},{"name":"CMKL"},{"DOI":"10.13039\/100007515","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS1149611"],"award-info":[{"award-number":["CNS1149611"]}],"id":[{"id":"10.13039\/100007515","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000185","name":"Defense Advanced Research Projects Agency","doi-asserted-by":"publisher","award":["D11AP00265"],"award-info":[{"award-number":["D11AP00265"]}],"id":[{"id":"10.13039\/100000185","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Sen. Netw."],"published-print":{"date-parts":[[2020,5,31]]},"abstract":"<jats:p>\n            Large-scale micro-aerial vehicle (MAV) swarms provide promising solutions for situational awareness in applications such as environmental monitoring, urban surveillance, search and rescue, and so on. However, these scenarios do not provide localization infrastructure and limit cost and size of on-board capabilities of individual nodes, which makes it challenging for nodes to autonomously navigate to suitable preassigned locations. In this article, we present\n            <jats:italic>H-DrunkWalk<\/jats:italic>\n            , a collaborative and adaptive technique for heterogeneous MAV swarm navigation in environments not formerly preconditioned for operation. Working with heterogeneous MAV swarm, the\n            <jats:italic>H-DrunkWalk<\/jats:italic>\n            achieves high accuracy through collaboration but still maintains a low cost of the entire swarm. The heterogeneous MAV swarm consists of two types of nodes: (1) basic MAVs with limited sensing, communication, computing capabilities and (2) advanced MAVs with premium sensing, communication, computing capabilities. The key focus behind this networked MAV swarm research is to (1) rely on collaboration to overcome limitations of individual nodes and efficiently achieve system-wide sensing objectives and (2) fully take advantage of advanced MAVs to help basic MAVs improve their performance. The evaluations based on real MAV testbed experiments and large-scale physical-feature-based simulations show that compared to the traditional non-collaborative and non-adaptive method (dead reckoning with map bias), our system achieves up to 6\u00d7 reductions in location estimation errors, and as much as 3\u00d7 improvements in navigation success rate under the given time and accuracy constraints. In addition, by comprehensively considering the environment, heterogeneous structure, and quality of location estimation, our\n            <jats:italic>H-DrunkWalk<\/jats:italic>\n            brings 2\u00d7 performance improvement (on average) as that of a hardware upgrade.\n          <\/jats:p>","DOI":"10.1145\/3382094","type":"journal-article","created":{"date-parts":[[2020,5,4]],"date-time":"2020-05-04T07:04:38Z","timestamp":1588575878000},"page":"1-27","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":40,"title":["H-DrunkWalk"],"prefix":"10.1145","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8271-5023","authenticated-orcid":false,"given":"Xinlei","family":"Chen","sequence":"first","affiliation":[{"name":"Carnegie Mellon University, Silicon Valley, CA"}]},{"given":"Carlos","family":"Ruiz","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Silicon Valley, CA"}]},{"given":"Sihan","family":"Zeng","sequence":"additional","affiliation":[{"name":"Tsinghua University, Beijing, China"}]},{"given":"Liyao","family":"Gao","sequence":"additional","affiliation":[{"name":"Purdue University, West Lafayette, IN"}]},{"given":"Aveek","family":"Purohit","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Silicon Valley, CA"}]},{"given":"Stefano","family":"Carpin","sequence":"additional","affiliation":[{"name":"UC Merced, Merced, CA"}]},{"given":"Pei","family":"Zhang","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Silicon Valley, CA"}]}],"member":"320","published-online":{"date-parts":[[2020,4,17]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3267305.3274179"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/3131672.3136997"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/2994551.2996694"},{"key":"e_1_2_1_4_1","volume-title":"Proceeding of the 10th International Conference on Information Processing in Sensor Networks (IPSN\u201911)","author":"Purohit A.","year":"2011","unstructured":"A. Purohit , Zheng Sun , F. Mokaya , and Pei Zhang . 2011 . SensorFly: Controlled-mobile sensing platform for indoor emergency response applications . In Proceeding of the 10th International Conference on Information Processing in Sensor Networks (IPSN\u201911) . 223--234. A. Purohit, Zheng Sun, F. Mokaya, and Pei Zhang. 2011. SensorFly: Controlled-mobile sensing platform for indoor emergency response applications. In Proceeding of the 10th International Conference on Information Processing in Sensor Networks (IPSN\u201911). 223--234."},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.916997"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/2070942.2070956"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9279-y"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21757"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2463671"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2013.2252996"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21774"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/2994551.2996544"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/3214283"},{"key":"e_1_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/3055031.3055072"},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/3131779"},{"key":"e_1_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/2809695.2809724"},{"key":"e_1_2_1_17_1","volume-title":"Distributed Autonomous Robotic Systems 6","author":"Morlok Ryan","unstructured":"Ryan Morlok and Maria Gini . 2007. Dispersing robots in an unknown environment . In Distributed Autonomous Robotic Systems 6 . Springer , 253--262. Ryan Morlok and Maria Gini. 2007. Dispersing robots in an unknown environment. In Distributed Autonomous Robotic Systems 6. Springer, 253--262."},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461381.2461412"},{"key":"e_1_2_1_19_1","volume-title":"Proceedings of the IEEE International Conference on Computer Communications (INFOCOM\u201910)","author":"Constandache I.","year":"2010","unstructured":"I. Constandache , R. R. Choudhury , and I. Rhee . 2010. Toward mobile phone localization without war-driving . In Proceedings of the IEEE International Conference on Computer Communications (INFOCOM\u201910) . 1--9. DOI:http:\/\/dx.doi.org\/10.1109\/INFCOM. 2010 .5462058 10.1109\/INFCOM.2010.5462058 I. Constandache, R. R. Choudhury, and I. Rhee. 2010. Toward mobile phone localization without war-driving. In Proceedings of the IEEE International Conference on Computer Communications (INFOCOM\u201910). 1--9. DOI:http:\/\/dx.doi.org\/10.1109\/INFCOM.2010.5462058"},{"key":"e_1_2_1_20_1","unstructured":"S. Thrun W. Burgard and D. Fox. 2006. Probabilistic Robotics. MIT Press 77\u201390.  S. Thrun W. Burgard and D. Fox. 2006. Probabilistic Robotics. MIT Press 77\u201390."},{"key":"e_1_2_1_21_1","doi-asserted-by":"crossref","unstructured":"A. Doucet J. F. G. de Freitas and N. J. Gordon (Eds.). 2001. Sequential Monte Carlo Methods in Practice. Springer-Verlag.  A. Doucet J. F. G. de Freitas and N. J. Gordon (Eds.). 2001. Sequential Monte Carlo Methods in Practice. Springer-Verlag.","DOI":"10.1007\/978-1-4757-3437-9"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"key":"e_1_2_1_23_1","doi-asserted-by":"publisher","DOI":"10.1145\/2162081.2162101"},{"key":"e_1_2_1_24_1","unstructured":"Johann Borenstein Liqiang Feng and H. R. Everett. 1996. Navigating Mobile Robots: Systems and Techniques. A. K. Peters Ltd. Natick MA.  Johann Borenstein Liqiang Feng and H. R. Everett. 1996. Navigating Mobile Robots: Systems and Techniques. A. K. Peters Ltd. Natick MA."},{"key":"e_1_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907654"},{"key":"e_1_2_1_26_1","first-page":"2","volume-title":"XBee Multipoint RF Modules Datasheet","author":"International Digi","unstructured":"Digi International . 2009. XBee Multipoint RF Modules Datasheet , pp. 1\u2013 2 . Retrieved from www.digi.com. Digi International. 2009. XBee Multipoint RF Modules Datasheet, pp. 1\u20132. Retrieved from www.digi.com."},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/IWCMC.2011.5982698"},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461073"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2018.2825658"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/TWC.2018.2853748"},{"key":"e_1_2_1_31_1","volume-title":"iLOCuS: Incentivizing vehicle mobility to optimize sensing distribution in crowd sensing","author":"Xu Susu","year":"2019","unstructured":"Susu Xu , Xinlei Chen , Xidong Pi , Carlee Joe-Wong , Pei Zhang , and Hae Young Noh . 2019. iLOCuS: Incentivizing vehicle mobility to optimize sensing distribution in crowd sensing . IEEE Trans. Mobile Comput . ( 2019 ). DOI: 10.1109\/TMC.2019.2915838 10.1109\/TMC.2019.2915838 Susu Xu, Xinlei Chen, Xidong Pi, Carlee Joe-Wong, Pei Zhang, and Hae Young Noh. 2019. iLOCuS: Incentivizing vehicle mobility to optimize sensing distribution in crowd sensing. IEEE Trans. Mobile Comput. (2019). DOI: 10.1109\/TMC.2019.2915838"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313237.3313299"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3302506.3312604"},{"key":"e_1_2_1_34_1","volume-title":"Sukhatme","author":"Batalin Maxim A.","year":"2003","unstructured":"Maxim A. Batalin and Gaurav S . Sukhatme . 2003 . Coverage, exploration, and deployment by a mobile robot and communication network. In Information Processing in Sensor Networks. Springer , 376--391. Maxim A. Batalin and Gaurav S. Sukhatme. 2003. Coverage, exploration, and deployment by a mobile robot and communication network. In Information Processing in Sensor Networks. Springer, 376--391."},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1023\/B:TELS.0000029038.31947.d1"},{"key":"e_1_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/990064.990095"},{"key":"e_1_2_1_37_1","volume-title":"Movement data traces from princeton zebranet deployments. CRAWDAD Database 129","author":"Wang Yong","year":"2007","unstructured":"Yong Wang , Pei Zhang , Ting Liu , Chris Sadler , and Margaret Martonosi . 2007. Movement data traces from princeton zebranet deployments. CRAWDAD Database 129 ( 2007 ). Yong Wang, Pei Zhang, Ting Liu, Chris Sadler, and Margaret Martonosi. 2007. Movement data traces from princeton zebranet deployments. CRAWDAD Database 129 (2007)."},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1019625207705"},{"key":"e_1_2_1_39_1","volume-title":"Sukhatme","author":"Howard Andrew","year":"2002","unstructured":"Andrew Howard , Maja J. Matari\u0107 , and Gaurav S . Sukhatme . 2002 . Mobile sensor network deployment using potential fields: A distributed, scalable solution to the area coverage problem. In Distributed Autonomous Robotic Systems 5. Springer , 299--308. Andrew Howard, Maja J. Matari\u0107, and Gaurav S. Sukhatme. 2002. Mobile sensor network deployment using potential fields: A distributed, scalable solution to the area coverage problem. In Distributed Autonomous Robotic Systems 5. Springer, 299--308."},{"key":"e_1_2_1_40_1","volume-title":"Sukhatme","author":"Batalin Maxim A.","year":"2002","unstructured":"Maxim A. Batalin and Gaurav S . Sukhatme . 2002 . Spreading out: A local approach to multi-robot coverage. In Distributed Autonomous Robotic Systems 5. Springer , 373--382. Maxim A. Batalin and Gaurav S. Sukhatme. 2002. Spreading out: A local approach to multi-robot coverage. In Distributed Autonomous Robotic Systems 5. Springer, 373--382."},{"key":"e_1_2_1_41_1","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201909)","author":"Burgard Wolfram","year":"2089","unstructured":"Wolfram Burgard , Cyrill Stachniss , Giorgio Grisetti , Bastian Steder , Rainer Kummerle , Christian Dornhege , Michael Ruhnke , Alexander Kleiner , and Juan D. Tard\u00f3s . 2009. A comparison of SLAM algorithms based on a graph of relations . In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201909) . IEEE, 2089 --2095. Wolfram Burgard, Cyrill Stachniss, Giorgio Grisetti, Bastian Steder, Rainer Kummerle, Christian Dornhege, Michael Ruhnke, Alexander Kleiner, and Juan D. Tard\u00f3s. 2009. A comparison of SLAM algorithms based on a graph of relations. In Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201909). IEEE, 2089--2095."},{"key":"e_1_2_1_42_1","volume-title":"Advances in Visual Computing","author":"Chekhlov Denis","unstructured":"Denis Chekhlov , Mark Pupilli , Walterio Mayol-Cuevas , and Andrew Calway . 2006. Real-time and robust monocular SLAM using predictive multi-resolution descriptors . In Advances in Visual Computing . Springer , 276--285. Denis Chekhlov, Mark Pupilli, Walterio Mayol-Cuevas, and Andrew Calway. 2006. Real-time and robust monocular SLAM using predictive multi-resolution descriptors. In Advances in Visual Computing. Springer, 276--285."},{"key":"e_1_2_1_43_1","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201904)","volume":"2","author":"Austin","unstructured":"Austin I. Eliazar and Ronald Parr. 2004. DP-SLAM 2.0 . In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201904) , Vol. 2 . IEEE, 1314--1320. Austin I. Eliazar and Ronald Parr. 2004. DP-SLAM 2.0. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201904), Vol. 2. IEEE, 1314--1320."},{"key":"e_1_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.281644"},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/70.938381"},{"key":"e_1_2_1_46_1","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201908)","author":"Huang Guoquan P.","unstructured":"Guoquan P. Huang , Anastasios I. Mourikis , and Stergios I. Roumeliotis . 2008. Analysis and improvement of the consistency of extended Kalman filter-based SLAM . In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201908) . IEEE, 473--479. Guoquan P. Huang, Anastasios I. Mourikis, and Stergios I. Roumeliotis. 2008. Analysis and improvement of the consistency of extended Kalman filter-based SLAM. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA\u201908). IEEE, 473--479."},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.903811"},{"key":"e_1_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570477"},{"key":"e_1_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889486"},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.06.007"},{"key":"e_1_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906072250"},{"key":"e_1_2_1_52_1","volume-title":"Proceedings of the IEEE International Conference on Computer Communications. 775--784","author":"Bahl P.","unstructured":"P. Bahl and V. Padmanabhan . 2000. RADAR: An in-building RF-based user location and tracking system . In Proceedings of the IEEE International Conference on Computer Communications. 775--784 . P. Bahl and V. Padmanabhan. 2000. RADAR: An in-building RF-based user location and tracking system. In Proceedings of the IEEE International Conference on Computer Communications. 775--784."},{"key":"e_1_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824948"},{"key":"e_1_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1145\/1067170.1067193"},{"key":"e_1_2_1_55_1","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation. 5466--5471","author":"Zickler S.","unstructured":"S. Zickler and M. Veloso . 2010. RSS-based relative localization and tethering for moving robots in unknown environments . In Proceedings of the IEEE International Conference on Robotics and Automation. 5466--5471 . S. Zickler and M. Veloso. 2010. RSS-based relative localization and tethering for moving robots in unknown environments. In Proceedings of the IEEE International Conference on Robotics and Automation. 5466--5471."},{"key":"e_1_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913488634"},{"key":"e_1_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.5555\/1625275.1625675"},{"key":"e_1_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-75160-1_9"},{"key":"e_1_2_1_59_1","volume-title":"Proceedings of the 10th USENIX Conference on Networked Systems Design and Implementation (NSDI\u201913)","author":"Shen Guobin","year":"2013","unstructured":"Guobin Shen , Zhuo Chen , Peichao Zhang , Thomas Moscibroda , and Yongguang Zhang . 2013 . Walkie-Markie: Indoor pathway mapping made easy . In Proceedings of the 10th USENIX Conference on Networked Systems Design and Implementation (NSDI\u201913) . USENIX Association, Berkeley, CA, 85--98. Retrieved from http:\/\/dl.acm.org\/citation.cfm?id=2482626.2482636. Guobin Shen, Zhuo Chen, Peichao Zhang, Thomas Moscibroda, and Yongguang Zhang. 2013. Walkie-Markie: Indoor pathway mapping made easy. In Proceedings of the 10th USENIX Conference on Networked Systems Design and Implementation (NSDI\u201913). USENIX Association, Berkeley, CA, 85--98. Retrieved from http:\/\/dl.acm.org\/citation.cfm?id=2482626.2482636."},{"key":"e_1_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2007.70764"},{"key":"e_1_2_1_61_1","doi-asserted-by":"publisher","DOI":"10.1145\/2307636.2307655"},{"key":"e_1_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/SAHCN.2013.6644999"}],"container-title":["ACM Transactions on Sensor Networks"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3382094","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3382094","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3382094","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T22:02:08Z","timestamp":1750197728000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3382094"}},"subtitle":["Collaborative and Adaptive Navigation for Heterogeneous MAV Swarm"],"short-title":[],"issued":{"date-parts":[[2020,4,17]]},"references-count":62,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2020,5,31]]}},"alternative-id":["10.1145\/3382094"],"URL":"https:\/\/doi.org\/10.1145\/3382094","relation":{},"ISSN":["1550-4859","1550-4867"],"issn-type":[{"value":"1550-4859","type":"print"},{"value":"1550-4867","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,4,17]]},"assertion":[{"value":"2018-03-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-01-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-04-17","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}