Para acceder a los documentos con el texto completo, por favor, siga el siguiente enlace: http://hdl.handle.net/2117/12440

Efficient active global localization for mobile robots operating in large and cooperative environments
Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto
Universitat Politècnica de Catalunya. 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
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.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Computational complexity
Distributed sensors
Mobile robots
Robots -- Cinemàtica -- Models matemàtics
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
         

Mostrar el registro completo del ítem

Documentos relacionados

Otros documentos del mismo autor/a

Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto
Spaan, Matthijs T.J.; Sequeira, Joao; Ollero, A.; Moreno, Plinio; Mirats Tur, Josep Maria; Merino, Luis; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitan, Jesus; Corominas Murtra, Andreu; Gilbert, Andrew; Illingworth, John
Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Sandoval Torres, Óscar; Perez Ibarz, Joan; Vasquez, Dizan; Mirats Tur, Josep Maria; Ferrer Sumsi, Miquel; Sanfeliu Cortés, Alberto
Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sandoval Torres, Óscar; Sanfeliu Cortés, Alberto
Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto
 

Coordinación

 

Patrocinio