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dc.contributor.author | Corominas Murtra, Andreu | - |
dc.contributor.author | Mirats-Tur, Josep M. | - |
dc.contributor.author | Sanfeliu, Alberto | - |
dc.date.accessioned | 2010-12-17T13:38:13Z | - |
dc.date.available | 2010-12-17T13:38:13Z | - |
dc.date.issued | 2008 | - |
dc.identifier.citation | Robotics and Autonomous Systems 56(10): 807-818 (2008) | - |
dc.identifier.issn | 0921-8890 | - |
dc.identifier.uri | http://hdl.handle.net/10261/30590 | - |
dc.description.abstract | This 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.sponsorship | This 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.iso | eng | - |
dc.publisher | Elsevier | - |
dc.relation.isversionof | Preprint | - |
dc.rights | openAccess | - |
dc.subject | Global localization | - |
dc.subject | Active | - |
dc.subject | Cooperative | - |
dc.subject | Network robot systems | - |
dc.subject | Automation | - |
dc.subject | Multi-robot systems | - |
dc.title | Action evaluation for mobile robot global localization in cooperative environments | - |
dc.type | artículo | - |
dc.identifier.doi | 10.1016/j.robot.2008.06.009 | - |
dc.description.peerreviewed | Peer Reviewed | - |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.robot.2008.06.009 | - |
dc.type.coar | http://purl.org/coar/resource_type/c_6501 | es_ES |
item.openairetype | artículo | - |
item.grantfulltext | open | - |
item.cerifentitytype | Publications | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.fulltext | With Fulltext | - |
item.languageiso639-1 | en | - |
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evaluation for mobile robot.pdf | 556,2 kB | Adobe PDF | Visualizar/Abrir |
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