Active Mobile Robot Localization
Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence. Robotics. Pages 1346-1351.
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.
@inproceedings{ijcai1997p194,
title = {Active Mobile Robot Localization},
author = {Burgard, Wolfram and Fox, Dieter and Thrun, Sebastian},
booktitle = {Proceedings of the Fifteenth International Joint Conference on
Artificial Intelligence, {IJCAI-97}},
publisher = {International Joint Conferences on Artificial Intelligence},
editor = {Martha E. Pollack},
pages = {1346--1351},
year = {1997},
note = {Robotics},
url = {https://ijcai.org/proceedings/1997/194},
}
TY - CPAPER TI - Active Mobile Robot Localization AU - Burgard, Wolfram AU - Fox, Dieter AU - Thrun, Sebastian T2 - Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence, IJCAI-97 PB - International Joint Conferences on Artificial Intelligence PY - 1997 SP - 1346 EP - 1351 UR - https://ijcai.org/proceedings/1997/194 ER -Copied
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