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Multirobot Object Localization: A Fuzzy Fusion Approach
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2009 (English)In: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492, Vol. 39, no 5, 1259-1276 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, we address the problem of fusing information about object positions in multirobot systems. Our approach is novel in two main respects. First, it addresses the multirobot object localization problem using fuzzy logic. It uses fuzzy sets to represent uncertain position information and fuzzy intersection to fuse this information. The result of this fusion is a consensus among sources, as opposed to the compromise achieved by many other approaches. Second, our method fully propagates self-localization uncertainty to object-position estimates. We evaluate our method using systematic experiments, which describe an input-error landscape for the performance of our approach. This landscape characterizes how well our method performs when faced with various types and amounts of input errors.

Place, publisher, year, edition, pages
IEEE, 2009. Vol. 39, no 5, 1259-1276 p.
National Category
Engineering and Technology Computer Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-7839DOI: 10.1109/TSMCB.2009.2015279ISI: 000267865400014PubMedID: 19362912Scopus ID: 2-s2.0-67649388046OAI: oai:DiVA.org:oru-7839DiVA: diva2:234402
Available from: 2009-09-08 Created: 2009-09-08 Last updated: 2017-12-13Bibliographically approved

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Publisher's full textPubMedScopushttp://www.aass.oru.se/~asaffio/Papers/smc09.html

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LeBlanc, KevinSaffiotti, Alessandro

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