NDLI: Active global localization for multiple robots by disambiguating multiple hypotheses

Content Provider	IEEE Xplore Digital Library
Author	Bhuvanagiri, S. Krishna, K.M.
Copyright Year	2008
Description	Author affiliation: Robot. Res. Center, Int. Inst. of Inf. Technol., Hyderabad (Bhuvanagiri, S.; Krishna, K.M.)
Abstract	In environments which possess relatively few features that enable a robot to unambiguously determine its location, global localization algorithms can result in multiple hypotheses locations of a robot. In such a scenario the robot, for effective localization, has to be actively guided to those locations where there is a maximum chance of eliminating most of the ambiguous states - which is often referred to as dasiaactive localizationpsila. When extended to multi robotic scenarios where all robots possess more than one hypothesis of their position, there is the opportunity to do better by using robots apart from obstacles as dasiahypotheses resolving agentspsila. The paper presents a unified framework accounting for the map structure as well as measurement amongst robots while guiding a set of robots to locations where they can singularize to a unique state. The appropriateness of our approach is demonstrated empirically in both simulation & real-time (on Amigobots) and its efficacy verified. Extensive comparative analysis portrays the advantage of the current method over others that do not perform active localization in a multi-robotic sense.
Starting Page	3446
Ending Page	3451
File Size	372010
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650735
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Robot sensing systems Resource management Robot kinematics Equations Sensors Distance measurement
Content Type	Text
Resource Type	Article

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