# US 2014/0195049 A1 · Apparatus and method for creating probability-based radio map for cooperative intelligent robots > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195049 A1 - Document ID: US20140195049A1 - Status: Published application - Kind: A1 - Application number: 14/017,718 - Filed: 2013-09-04 - Published: 2014-07-10 - Earliest claimed: 2013-01-04 - Assignees: Electronics and Telecommunications Research Institute - Applicants: Electronics and Telecommunications Research Institute - Inventors: Hyun-Ja IM; Chang-Eun LEE; Min-Su JANG; Dae-Ha LEE; Seo-Hyun JEON; Young-Jo CHO; Sung-Hoon KIM; Jong-Hyun PARK - Web page: https://patentgrep.com/patent/US20140195049A1 ## CPC - G01S 5/02526: {using non-dedicated equipment, e.g. user equipment or crowd-sourcing} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0291: {Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127)} - Y10S 901/01: Mobile robot - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract An apparatus for creating a radio map includes a radio signal acquiring unit that acquires information on radio signals between one or more cooperative intelligent robots, a radio environment modeling unit that estimates radio strength for each cell configuring the radio map from the information on radio signals acquired by the radio signal acquiring unit, and a radio map creating unit that classifies a communication region of each cell and models the radio map according to the radio strength for each cell estimated by the radio environment modeling unit. ## Claims ### Claim 1 An apparatus for creating a radio map, comprising: a radio signal acquiring unit that acquires information on radio signals between one or more cooperative intelligent robots; a radio environment modeling unit that estimates radio strength for each cell configuring the radio map from the information on radio signals acquired by the radio signal acquiring unit; and a radio map creating unit that classifies a communication region of each cell and models the radio map according to the radio strength for each cell estimated by the radio environment modeling unit. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the apparatus for creating a radio map is provided in a leader robot among one or more routing robots. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the radio signal acquiring unit carries a WPAN communication module and receives the information on radio signals from one or more neighboring robots. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the information on radio signals includes radio strength, communication link quality, and a relative position. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the radio map creating unit matches the radio map with a grid of an actual local map. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the radio environment modeling unit calculates a radio environment variable (n) using an acquired movement distance of each robot and an acquired radio strength, and estimates a radio strength (L) in each grid cell while changing a distance value (d) to one or more grid cells configuring the radio map using the calculated radio environment variable (n). ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the radio environment modeling unit uses a maximum likelihood estimate (MLE) technique to estimate an average noise for noise modeling. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the radio environment modeling unit uses a Cramer-Rao bound technique to estimate a noise distribution. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the radio map creating unit receives a radio strength estimation value for each cell of the radio map from one or more other routing robots, and extracts a representative value from among radio strengths in consideration of a priority of the routing robots. ### Claim 10 (depends on 1) The apparatus of claim 1, further comprising a radio map sharing unit that transmits the created radio map to one or more routing robots or mission robots. ### Claim 11 A method of creating a radio map in a leader robot among one or more routing robots, comprising: acquiring information on radio signals between one or more cooperative intelligent robots; estimating radio strength for each cell configuring the radio map from the acquired information on radio signals; and classifying a communication region of each cell and modeling the radio map according to the estimated radio strength for each cell. ### Claim 12 (depends on 11) The method of claim 11, wherein the information on radio signals includes radio strength, communication link quality, and a relative position. ### Claim 13 (depends on 11) The method of claim 11, further comprising matching the radio map with a grid of an actual local map. ### Claim 14 (depends on 11) The method of claim 11, wherein the estimating of the radio strength includes: calculating a radio environment variable (n) using an acquired movement distance of each robot and radio strength, and estimating a radio strength value (L) in each grid cell while changing a distance value (d) to one or more grid cells configuring the radio map using the calculated radio environment variable (n). ### Claim 15 (depends on 11) The method of claim 11, wherein the creating of the radio map includes: receiving a radio strength estimation value for each cell of the radio, map from one or more other routing robots, and extracting a representative value from among radio strengths in consideration of a priority of the routing robots. ### Claim 16 (depends on 11) The method of claim 11, further comprising transmitting the created radio map to one or more routing robots or mission robots.