{"type":"ScholarlyArticle","title":"Active Mobile Robot Localization","authors":[{"name":"Wolfram Burgard","slug":"wolfram-burgard","given":"Wolfram","family":"Burgard","affiliation":""},{"name":"Dieter Fox","slug":"dieter-fox","given":"Dieter","family":"Fox","affiliation":""},{"name":"Sebastian Thrun","slug":"sebastian-thrun","given":"Sebastian","family":"Thrun","affiliation":""}],"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.","doi":null,"url":"https://ijcai.org/proceedings/1997/194","pdf":"https://ijcai.org/proceedings/1997/0194.pdf","markdown":"https://ijcai.org/proceedings/1997/194.md","bibtex":"https://ijcai.org/proceedings/1997/bibtex/194","volume":{"slug":"1997","title":"Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1997","url":"https://ijcai.org/proceedings/1997/","year":1997,"location":"Nagoya, Japan","dates":"","editors":"Martha E. Pollack","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":194,"pages":{"first":1346,"last":1351},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}