Trabajo presentado al ICRA 2008 celebrado en Pasadena (USA) del 19 al 23 de mayo. ; 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 10.000m2 are presented validating the presented approach and showing different behaviours for the single robot case and for the cooperative one. ; This work was supported by the project 'Ubiquitous networking robotics in urban settings' (E-00938). Work under foundation grant of URUSIST-045062 research program. ; Peer Reviewed
Efficient active global localization for mobile robots operating in large and cooperative environments
2008-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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