Active Target Localization For Bearing Based Robotic Telemetry

We present a novel robotic telemetry system for localizing radio-tagged invasive fish in frozen lakes using coarse bearing measurements. We address the problem of selecting sensing locations so as to minimize the uncertainty in the location of the target. For this purpose, we propose three active localization algorithms and evaluate them both in simulations and through field experiments. We also present a novel technique for bearing-estimation from directional radio antenna which is critical for the successful execution of the active localization algorithms. Our system is able to operate on frozen lakes and localize the target to within values as low as one meter.