NDLI: Active sensing for range-only mapping using multiple hypothesis

Content Provider	IEEE Xplore Digital Library
Author	Merino, L. Caballero, F. Ollero, A.
Copyright Year	2010
Description	Author affiliation: University of Seville, Escuela Superior de Ingenieros, Camino de los Descubrimientos s/n, 41092 (Spain) (Caballero, F.; Ollero, A.) \|\| Pablo de Olavide University, Carretera Utrera km1, 41013, Sevilla (Spain) (Merino, L.)
Abstract	Radio signal-based localization and mapping is becoming more interesting in robotics as applications involving the collaboration between robots and static wireless devices are more common. This paper describes a method for mapping with a mobile robot the position of a set of nodes using radio signal measurements. The method employs Gaussian Mixtures Models (GMM) for undelayed initialization of the position of the wireless nodes within a Kalman filter. Moreover, the paper extends the method to consider active sensing strategies in order to map the nodes. Entropy variation is used as a measurement of information gain, and allows to prioritize control actions of the robot. However, as there is no analytical expression for the entropy of a GMM, upper bounds of the entropy, for which close form computation is possible, are used instead. The paper describes simulations that show the feasibility of the approach.
Starting Page	37
Ending Page	42
File Size	2208672
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650442
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Entropy Wireless sensor networks Robot kinematics Weight measurement
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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