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Cooperative Localization Based on Visually Shared Objects

2011

Conference Paper

ps


In this paper we describe a cooperative localization algorithm based on a modification of the Monte Carlo Localization algorithm where, when a robot detects it is lost, particles are spread not uniformly in the state space, but rather according to the information on the location of an object whose distance and bearing is measured by the lost robot. The object location is provided by other robots of the same team using explicit (wireless) communication. Results of application of the method to a team of real robots are presented.

Author(s): Lima, PU and Santos, P and Oliveira, R and Ahmad, A and Santos, J
Book Title: RoboCup 2010: Robot Soccer World Cup XIV
Pages: 350-361
Year: 2011
Series: Lecture Notes in Computer Science ; 6556
Publisher: Springer

Department(s): Perceiving Systems
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1007/978-3-642-20217-9_30
Event Name: 14th Annual RoboCup International Symposium 2010
Event Place: Singapore

Address: Berlin, Germany

BibTex

@inproceedings{LimaSOAS2011,
  title = {Cooperative Localization Based on Visually Shared Objects},
  author = {Lima, PU and Santos, P and Oliveira, R and Ahmad, A and Santos, J},
  booktitle = {RoboCup 2010: Robot Soccer World Cup XIV},
  pages = {350-361},
  series = {Lecture Notes in Computer Science ; 6556},
  publisher = {Springer},
  address = {Berlin, Germany},
  year = {2011}
}