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Robust multi-robot object localization using fuzzy logic
University of Murcia, Spain. (Dept. Information and Communication Engineering)
Örebro universitet, Institutionen för teknik. (Mobile Robotics Lab)
Örebro universitet, Institutionen för teknik. (Mobile Robotics Lab)ORCID-id: 0000-0001-8229-1363
2005 (Engelska)Ingår i: RoboCup 2004: robot soccer world cup VIII / [ed] Daniele Nardi, Martin Riedmiller, Claude Sammut, José Santos-Victor, Springer Berlin/Heidelberg, 2005, s. 247-261Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Cooperative localization of objects is an important challenge in multi-robot systems. We propose a new approach to this problem where we see each robot as an expert which shares unreliable information about object locations. The information provided by different robots is then combined using fuzzy logic techniques, in order to reach a consensus between the robots. This contrasts with most current probabilistic techniques, which average information from different robots in order to obtain a tradeoff, and can thus incur well-known problems when information is unreliable. In addition, our approach does not assume that the robots have accurate self-localization. Instead, uncertainty in the pose of the sensing robot is propagated to object position estimates. We present experimental results obtained on a team of Sony AIBO robots, where we share information about the location of the ball in the RoboCup domain

Ort, förlag, år, upplaga, sidor
Springer Berlin/Heidelberg, 2005. s. 247-261
Serie
Lecture notes in computer science ; 3276
Nationell ämneskategori
Datavetenskap (datalogi)
Forskningsämne
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-3913DOI: 10.1007/b106671ISBN: 978-3-540-25046-3 (tryckt)OAI: oai:DiVA.org:oru-3913DiVA, id: diva2:138212
Konferens
RoboCup 2004: Robot Soccer World Cup VIII, Lisbon, Portugal
Tillgänglig från: 2007-08-14 Skapad: 2007-08-14 Senast uppdaterad: 2018-01-13Bibliografiskt granskad

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LeBlanc, KevinSaffiotti, Alessandro

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