On Sensor Fusion Between a Pair Of Heterogeneous Robots
2003 (English)In: Proceedings of the 6th International Conference on Information Fusion, Cairns, Australia, 8th–11th July, 2003, 2003, 1287-1294 p.Chapter in book (Other (popular science, discussion, etc.))
This paper present work in progress, aiming to find models that can be used as guidelines in how to best deploy a team of heterogeneous robots to solve a given task. That is, this research is focusing on how much each robot can increase the certainty about its own position and orientation in a global perspective as well as relative to other team members. It also, in some extent investigate what happens too the uncertainty and correlation within the group. The motive is to provide an insight into the utility of fusing position information communicated within the team, in aspect of increased accuracy. It also investigates in what way different usage of sensors will effect the results. Since the goal of the paper is insight, the minimum configuration of two robots and two landmarks is studied although the results are scalable to larger robot teams. The results show that by placing a camera on the moving robot measuring the bearing of a stationary robot gives better estimation of the moving robots orientation, which can be crucial for the solution of the association problem.
Place, publisher, year, edition, pages
2003. 1287-1294 p.
Cooperative, Robot, Navigation, Distributed, Fusion, SLAM, CLAM
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-15106ISBN: 0-9721844-4-9OAI: oai:DiVA.org:liu-15106DiVA: diva2:54406