Open AccessProceedings Article
Active mobile robot localization
Wolfram Burgard,Dieter Fox,Sebastian Thrun +2 more
- pp 1346-1352
TLDR
The approach provides rational criteria for setting the robot’s motion direction (exploration), and determining the pointing direction of the sensors so as to most efficiently localize the robot.Abstract:
Localization is the problem of determining the position of a mobile robot from sensor data. Most existing localization approaches are passive, i.e., they do not exploit the opportunity to control the robot’s effectors during localization. This paper proposes an active localization approach. The approach provides rational criteria for (1) setting the robot’s motion direction (exploration), and (2) determining the pointing direction of the sensors so as to most efficiently localize the robot. Furthermore, it is able to deal with noisy sensors and approximative world models. The appropriateness of our approach is demonstrated empirically using a mobile robot in a structured office environment.read more
Citations
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Learning metric-topological maps for indoor mobile robot navigation
TL;DR: This paper describes an approach that integrates both paradigms: grid-based and topological, which gains advantages from both worlds: accuracy/consistency and efficiency.
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Experiences with an interactive museum tour-guide robot
Wolfram Burgard,Armin B. Cremers,Dieter Fox,Dirk Hähnel,Gerhard Lakemeyer,Dirk Schulz,Walter Steiner,Sebastian Thrun +7 more
TL;DR: The software architecture of an autonomous, interactive tour-guide robot is presented, which integrates localization, mapping, collision avoidance, planning, and various modules concerned with user interaction and Web-based telepresence and enables robots to operate safely, reliably, and at high speeds in highly dynamic environments.
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A Probabilistic Approach to Collaborative Multi-Robot Localization
TL;DR: This paper uses a sample-based version of Markov localization, capable of localizing mobile robots in an any-time fashion, to demonstrate drastic improvements in localization speed and accuracy when compared to conventional single-robot localization.
Proceedings ArticleDOI
Pedestrian localisation for indoor environments
Oliver J. Woodman,Robert Harle +1 more
TL;DR: This paper looks at how a foot-mounted inertial unit, a detailed building model, and a particle filter can be combined to provide absolute positioning, despite the presence of drift in the inertial units and without knowledge of the user's initial location.
Proceedings Article
The interactive museum tour-guide robot
Wolfram Burgard,Armin B. Cremers,Dieter Fox,Dirk Hähnel,Gerhard Lakemeyer,Dirk Schulz,Walter Steiner,Sebastian Thrun +7 more
TL;DR: In this paper, the authors describe the software architecture of an autonomous tour-guideltutor robot, which was recently deployed in the "Deutsches Museum Bonn," were it guided hundreds of visitors through the museum during a six-day deployment period.
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