NDLI: L1-norm global localization based on a Differential Evolution Filter

Content Provider	IEEE Xplore Digital Library
Author	Martin, F. Munoz, M.L. Garrido, S. Blanco, D. Moreno, L.
Copyright Year	2009
Description	Author affiliation: Facultad de Informática, Universidad Politécnica, Madrid, Spain (Munoz, M.L.) \|\| Robotic's Laboratory, Universidad Carlos III, Madrid, Spain (Martin, F.; Garrido, S.; Blanco, D.; Moreno, L.)
Abstract	Global localization methods deal with the estimation of a mobile robot's pose assuming no prior state information about it and a complete a priori knowledge of the environment where the mobile robot is going to be localized. Most existent algorithms are based on the minimization of a L2-norm loss function. However, the use of a L1-norm offers some alternative advantages. The present work explores the use of a L1-norm together with an Evolutive Localization Filter to determine its efficiency when applied to the global localization problem. The algorithm has been tested subject to different noise levels to demonstrate the accuracy, effectiveness, robustness and computational efficiency of the L1-norm approach.
Starting Page	229
Ending Page	234
File Size	214836
Page Count	6
File Format	PDF
ISBN	9781424450572
DOI	10.1109/WISP.2009.5286559
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-26
Publisher Place	Hungary
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	L1-norm Optimization methods Information filtering Mobile robots Intelligent robots Monte Carlo methods Global Localization Robot kinematics Signal processing algorithms Mobile Robots Probability density function Information filters Differential Evolution Filter State estimation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in