Título:
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Efficient active global localization for mobile robots operating in large and cooperative environments
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Autor/a:
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Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto
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Otros autores:
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Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
Abstract:
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This paper presents a novel and efficient framework to the active map-based global localization problem for mobile robots operating in large and cooperative environments. The paper proposes a rational criteria to select the action that minimizes the expected number of remaining position hypotheses, for the single robot case and for the cooperative case, where the lost robot takes advantage of observations coming
from a sensor network deployed on the environment or from other localized robots. Efficiency in time complexity is achieved
thanks to reasoning in terms of the number of hypotheses instead of in terms of the belief function. Simulation results in a
real outdoor environment of 10.000 m2 are presented validating the presented approach and showing different behaviours for the single robot case and for the cooperative one. |
Abstract:
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Peer Reviewed |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Computational complexity -Distributed sensors -Mobile robots -Robots -- Cinemàtica -- Models matemàtics |
Derechos:
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Tipo de documento:
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Artículo - Versión presentada Objeto de conferencia |
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