D. Fox, W. Burgard, and S. Thrun
Active Markov Localization for
Mobile Robots
Robotics and Autonomous Systems
Abstract
Localization is the problem of determining the position of a mobile robot
from sensor data. Most existing localization approaches are passive, i.e.,
they do not exploit the opportunity to control the robot's effectors during
localization. This paper proposes an active localization approach.
The approach is based on Markov localization and provides rational criteria
for (1) setting the robot's motion direction (exploration), and (2) determining
the pointing direction of the sensors so as to most efficiently localize
the robot. Furthermore, it is able to deal with noisy sensors and approximative
world models. The appropriateness of our approach is demonstrated empirically
using a mobile robot in a structured office environment.
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Bibtex
@INPROCEEDINGS{Fox98Act,
AUTHOR
= {Fox, D. and Burgard, W. and Thrun, S.},
TITLE
= {Active Markov Localization for Mobile Robots},
JOURNAL = {Robotics
and Autonomous Systems},
VOLUME
= {25},
PAGES
= {195-207},
YEAR
= {1998}
}
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