General detection model in cooperative multirobot localization

Detalhes bibliográficos
Autor(a) principal: Odakura,Valguima Victoria Viana Aguiar
Data de Publicação: 2009
Outros Autores: Bianchi,Reinaldo Augusto da Costa, Costa,Anna Helena Reali
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Computer Society
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002009000300004
Resumo: The cooperative multirobot localization problem consists in localizing each robot in a group within the same environment, when robots share information in order to improve localization accuracy. It can be achieved when a robot detects and identifies another one, and measures their relative distance. At this moment, both robots can use detection information to update their own poses beliefs. However some other useful information besides single detection between a pair of robots can be used to update robots poses beliefs as: propagation of a single detection for non participants robots, absence of detections and detection involving more than a pair of robots. A general detection model is proposed in order to aggregate all detection information, addressing the problem of updating poses beliefs in all situations depicted. Experimental results in simulated environment with groups of robots show that the proposed model improves localization accuracy when compared to conventional single detection multirobot localization.
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spelling General detection model in cooperative multirobot localizationmultirobotprobabilistic localizationdetection modelThe cooperative multirobot localization problem consists in localizing each robot in a group within the same environment, when robots share information in order to improve localization accuracy. It can be achieved when a robot detects and identifies another one, and measures their relative distance. At this moment, both robots can use detection information to update their own poses beliefs. However some other useful information besides single detection between a pair of robots can be used to update robots poses beliefs as: propagation of a single detection for non participants robots, absence of detections and detection involving more than a pair of robots. A general detection model is proposed in order to aggregate all detection information, addressing the problem of updating poses beliefs in all situations depicted. Experimental results in simulated environment with groups of robots show that the proposed model improves localization accuracy when compared to conventional single detection multirobot localization.Sociedade Brasileira de Computação2009-09-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002009000300004Journal of the Brazilian Computer Society v.15 n.3 2009reponame:Journal of the Brazilian Computer Societyinstname:Sociedade Brasileira de Computação (SBC)instacron:UFRGS10.1007/BF03194504info:eu-repo/semantics/openAccessOdakura,Valguima Victoria Viana AguiarBianchi,Reinaldo Augusto da CostaCosta,Anna Helena Realieng2009-12-17T00:00:00Zoai:scielo:S0104-65002009000300004Revistahttps://journal-bcs.springeropen.com/PUBhttps://old.scielo.br/oai/scielo-oai.phpjbcs@icmc.sc.usp.br1678-48040104-6500opendoar:2009-12-17T00:00Journal of the Brazilian Computer Society - Sociedade Brasileira de Computação (SBC)false
dc.title.none.fl_str_mv General detection model in cooperative multirobot localization
title General detection model in cooperative multirobot localization
spellingShingle General detection model in cooperative multirobot localization
Odakura,Valguima Victoria Viana Aguiar
multirobot
probabilistic localization
detection model
title_short General detection model in cooperative multirobot localization
title_full General detection model in cooperative multirobot localization
title_fullStr General detection model in cooperative multirobot localization
title_full_unstemmed General detection model in cooperative multirobot localization
title_sort General detection model in cooperative multirobot localization
author Odakura,Valguima Victoria Viana Aguiar
author_facet Odakura,Valguima Victoria Viana Aguiar
Bianchi,Reinaldo Augusto da Costa
Costa,Anna Helena Reali
author_role author
author2 Bianchi,Reinaldo Augusto da Costa
Costa,Anna Helena Reali
author2_role author
author
dc.contributor.author.fl_str_mv Odakura,Valguima Victoria Viana Aguiar
Bianchi,Reinaldo Augusto da Costa
Costa,Anna Helena Reali
dc.subject.por.fl_str_mv multirobot
probabilistic localization
detection model
topic multirobot
probabilistic localization
detection model
description The cooperative multirobot localization problem consists in localizing each robot in a group within the same environment, when robots share information in order to improve localization accuracy. It can be achieved when a robot detects and identifies another one, and measures their relative distance. At this moment, both robots can use detection information to update their own poses beliefs. However some other useful information besides single detection between a pair of robots can be used to update robots poses beliefs as: propagation of a single detection for non participants robots, absence of detections and detection involving more than a pair of robots. A general detection model is proposed in order to aggregate all detection information, addressing the problem of updating poses beliefs in all situations depicted. Experimental results in simulated environment with groups of robots show that the proposed model improves localization accuracy when compared to conventional single detection multirobot localization.
publishDate 2009
dc.date.none.fl_str_mv 2009-09-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002009000300004
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002009000300004
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1007/BF03194504
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Sociedade Brasileira de Computação
publisher.none.fl_str_mv Sociedade Brasileira de Computação
dc.source.none.fl_str_mv Journal of the Brazilian Computer Society v.15 n.3 2009
reponame:Journal of the Brazilian Computer Society
instname:Sociedade Brasileira de Computação (SBC)
instacron:UFRGS
instname_str Sociedade Brasileira de Computação (SBC)
instacron_str UFRGS
institution UFRGS
reponame_str Journal of the Brazilian Computer Society
collection Journal of the Brazilian Computer Society
repository.name.fl_str_mv Journal of the Brazilian Computer Society - Sociedade Brasileira de Computação (SBC)
repository.mail.fl_str_mv jbcs@icmc.sc.usp.br
_version_ 1754734670001471488

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