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Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/30127
Title: Integrating asynchronous observations for mobile robot position tracking in cooperative environments
Authors: Corominas Murtra, Andreu; Mirats-Tur, Josep M.; Sanfeliu, Alberto
Keywords: Mobile robots
Position tracking
Particle filter
Asynchronous sensor fusion
Issue Date: 2009
Citation: IEEE/RSJ International Conference on Intelligent Robots and Systems: 3850-3855 (2009)
Abstract: This paper presents an asynchronous particle filter algorithm for mobile robot position tracking, taking into account time considerations when integrating observations being delayed or advanced from the prior estimate time point. The interest of that filter lies in cooperative environments and in fast vehicles. The paper studies the first case, where a sensor network shares perception data with running robots that receive accurate observations with large delays due to acquisition, processing and wireless communications. Promising simulated results comparing a basic particle filter and the proposed one are shown. The paper also investigates a situation where a robot is tracking its position, fusing only odometry and observations from a camera network partially covering the robot path.
Description: Trabajo presentado al IROS 2009 celebrado en Saint Louis (EE.UU.) del 10 al 15 de octubre.
Publisher version (URL): http://dx.doi.org/10.1109/IROS.2009.5354502
URI: http://hdl.handle.net/10261/30127
DOI: 10.1109/IROS.2009.5354502
ISBN: 978-1-4244-3803-7
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