A BreadCrumb Network Framework for Assisting with Robot Localization

Localization and communication are critical components for functioning autonomous robots. The infrastructure required for these operations commonly includes global positioning system (GPS) and easily recognizable and re-identifiable landmarks. However, these types of infrastructures are not always readily available. This research has developed a deploy-able electronic way-point system dubbed ’BreadCrumbs’. BreadCrumbs function as electronic landmarks that can provide localization and communication capabilities to a robot in environments where such infrastructure is not inherently present. When deployed by a forward moving agent with a set destination, the BreadCrumbs also form a series of way-points which reduce the possible state space an autonomous robot must search through when path planning in an unknown or unmapped environment. The BreadCrumbs are self localizing and have several methods for initial location determination based on the environment they are placed in. GPS is not required for the BreadCrumbs to function and, once established, they can function as landmarks for autonomous robots by providing range data from radio signal strength with a path loss exponent determined through a Deep Deterministic Policy Gradient algorithm.