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dc.contributor.authorCorominas Murtra, Andreu-
dc.contributor.authorMirats-Tur, Josep M.-
dc.contributor.authorSanfeliu, Alberto-
dc.date.accessioned2010-12-17T13:38:13Z-
dc.date.available2010-12-17T13:38:13Z-
dc.date.issued2008-
dc.identifier.citationRobotics and Autonomous Systems 56(10): 807-818 (2008)-
dc.identifier.issn0921-8890-
dc.identifier.urihttp://hdl.handle.net/10261/30590-
dc.description.abstractThis work is about solving the global localization issue for mobile robots, operating in large and cooperative environments. It tackles the problem of estimating the pose of a robot, or team of robots in a map reference frame, given the map, the real-time data from the robot onboard sensors, and the real-time data coming from other robots or sensors in the environment. After a first step of position hypotheses generation, an efficient probabilistic active strategy selects an action, for a single lost robot case, or two joint actions when two lost robots are in a line of sight, so that the hypotheses set is best disambiguated. The action set is adapted to the multi-hypothesis situation, and action evaluation takes into account remote observations available in robot network systems. This paper presents the theoretical formulation for both non-cooperative, and cooperative cases. An implementation of the proposed strategy is discussed, and simulation results presented.-
dc.description.sponsorshipThis work was supported by projects: 'Ubiquitous networking robotics in urban settings' (E-00938), 'CONSOLIDER-INGENIO 2010 Multimodal interaction in pattern recognition and computer vision' (V-00069), 'Robotica ubicua para entornos urbanos' (J-01225). It was partially supported by Consolider Ingenio 2010, project CSD2007-00018, CICYT project DPI2007-614452, and IST-045062 of the European Community Union.-
dc.language.isoeng-
dc.publisherElsevier-
dc.relation.isversionofPreprint-
dc.rightsopenAccess-
dc.subjectGlobal localization-
dc.subjectActive-
dc.subjectCooperative-
dc.subjectNetwork robot system-
dc.subjectAutomation-
dc.subjectMulti-robot systems-
dc.titleAction evaluation for mobile robot global localization in cooperative environments-
dc.typeartículo-
dc.identifier.doi10.1016/j.robot.2008.06.009-
dc.description.peerreviewedPeer Reviewed-
dc.relation.publisherversionhttp://dx.doi.org/10.1016/j.robot.2008.06.009-
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