About: Multiple Indoor Robot Localization Using Infrared Beacons

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	Mobile robot localization based on active artificial landmarks is well established robust technique in indoor mobile robotics. This paper explores the extension of the method to multiple robot localization, with the key idea of using the robots themselves as the artificial landmarks, supplying other robots in the group with its estimate of position. The method uses nonlinear version of Kalman filter for determination of position estimate in 2D space, x-y coordinates and angle with respect to global coordinate system, with the estimate represented by mean values and corresponding covariances. Simulation results based on model well verified with the real system suggest that while only small reduction of number of fixed active landmarks can be achieved, the main advantage of the method is in increased robustness of localization technique with respect to obscured landmarks fields of view. Mobile robot localization based on active artificial landmarks is well established robust technique in indoor mobile robotics. This paper explores the extension of the method to multiple robot localization, with the key idea of using the robots themselves as the artificial landmarks, supplying other robots in the group with its estimate of position. The method uses nonlinear version of Kalman filter for determination of position estimate in 2D space, x-y coordinates and angle with respect to global coordinate system, with the estimate represented by mean values and corresponding covariances. Simulation results based on model well verified with the real system suggest that while only small reduction of number of fixed active landmarks can be achieved, the main advantage of the method is in increased robustness of localization technique with respect to obscured landmarks fields of view. (en)
Title	Multiple Indoor Robot Localization Using Infrared Beacons Multiple Indoor Robot Localization Using Infrared Beacons (en)
skos:prefLabel	Multiple Indoor Robot Localization Using Infrared Beacons Multiple Indoor Robot Localization Using Infrared Beacons (en)
skos:notation	RIV/61388998:_____/14:00437595!RIV15-AV0-61388998
http://linked.open...avai/riv/aktivita	I
http://linked.open...avai/riv/aktivity	I
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Krejsa, Jiří Věchet, Stanislav
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Ústav termomechaniky AV ČR, v. v. i.
http://linked.open...dnocenehoVysledku	31086
http://linked.open...ai/riv/idVysledku	RIV/61388998:_____/14:00437595
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	mobile robot; indoor localization; Kalman filter; infrared beacons (en)
http://linked.open.../riv/klicoveSlovo	indoor localization infrared beacons Kalman filter mobile robot
http://linked.open...ontrolniKodProRIV	[FE4771B1B6A6]
http://linked.open...v/mistoKonaniAkce	Svratka
http://linked.open...i/riv/mistoVydani	Brno
http://linked.open...i/riv/nazevZdroje	Engineering mechanics 2014
http://linked.open...in/vavai/riv/obor	JB
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Krejsa, Jiří Věchet, Stanislav Chen, K.-S.
http://linked.open...vavai/riv/typAkce	EUR - Evropská
http://linked.open.../riv/zahajeniAkce	2014-05-12 (xsd:date)
issn	1805-8248
number of pages	4 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Vysoké učení technické v Brně
https://schema.org/isbn	978-80-214-4871-1

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