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Fuzzy landmark-based localization for a legged robot
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
Örebro University, Department of Technology. (Mobile Robotics Lab)
2000 (English)In: Proceedings, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems: IROS 2000 - Takamatsu, Japan, 2000, 2000, p. 1205-1210Conference paper, Published paper (Refereed)
Abstract [en]

We describe a new technique for landmark-based self-localization which is suitable for robots with poor odometry. This technique uses fuzzy logic to account for errors and imprecision in visual recognition, and for extreme uncertainty in the estimate of the robot's motion. It only requires an approximate model of the sensor system and a qualitative estimate of the robot's displacement, and it has a moderate computational cost. We show examples of use of our technique on a Sony AIBO legged robot in the RoboCup domain.

Place, publisher, year, edition, pages
2000. p. 1205-1210
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3948DOI: 10.1109/IROS.2000.893183ISBN: 0-7803-6348-5 (print)OAI: oai:DiVA.org:oru-3948DiVA, id: diva2:138247
Conference
2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2000 - Takamatsu, Japan, 31 Oct.-5 Nov. 2000
Available from: 2007-08-16 Created: 2007-08-16 Last updated: 2018-01-13Bibliographically approved

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Buschka, PärSaffiotti, AlessandroWasik, Zbigniew

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  • nn-NO
  • nn-NB
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Output format
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