A study on packet design to realize position estimation as well as information-communication for mobile robot

Recently, mobile robot is expected in the office and the welfare institution to execute the work of transportation, the around cleaning, and the guide as a proxy supporting. It is necessary for the server which control the mobile robots remotely, to recognize the environmental variation in surroundings of the mobile robots accurately. We assume the mobile robots are in indoor environment. We consider the packet composition for performing wireless communication with position estimation within 1 packet. We propose the algorithm which changes the number of position estimation adaptively by using picture information. We show the improvement of RMSE and throughput by the proposal algorithm.