Publication

Efficient active global localization for mobile robots operating in large and cooperative environments

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2008

Pages

2758-2763

Doc link

http://dx.doi.org/10.1109/ROBOT.2008.4543628

File

Download the digital copy of the doc pdf document

Abstract

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.

Categories

mobile robots, multi-robot systems.

Author keywords

Active global localization, network robots

Scientific reference

A. Corominas Murtra, J. M. Mirats Tur and A. Sanfeliu. Efficient active global localization for mobile robots operating in large and cooperative environments, 2008 IEEE International Conference on Robotics and Automation, 2008, Pasadena, Estats Units d'Amèrica, pp. 2758-2763, IEEE.