"Localization space": a framework for localization and planning, for systems using a sensor/landmarks module

"Localization space": a framework for localization and planning, for systems using a sensor/landmarks module

One of the common ways of localization in robotics is the triangulation using a system composed of a sensor and some landmarks (which can be artificial or natural). This paper presents a framework, namely the localization space, in order to deal with problems such as the landmark placement and motio...

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Hauptverfasser: Pradalier, C., Sekhavat, S.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Error correction
Machine vision
Mobile robots
Motion planning
Orbital robotics
Path planning
Robot sensing systems
Sensor systems
Trajectory
Uncertainty
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creator Pradalier, C.
Sekhavat, S.
description One of the common ways of localization in robotics is the triangulation using a system composed of a sensor and some landmarks (which can be artificial or natural). This paper presents a framework, namely the localization space, in order to deal with problems such as the landmark placement and motion planning including the localization constraint. Based on this framework, we present general approaches to the optimal distribution of the landmarks or to the computation of reliable trajectories. The case of a mobile robot equipped with an orientable sensor (such as a pan vision system) is presented to illustrate the formal concepts and to show the practical relevance of the proposed tools.
doi_str_mv 10.1109/ROBOT.2002.1013441
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subjects Error correction
Machine vision
Mobile robots
Motion planning
Orbital robotics
Path planning
Robot sensing systems
Sensor systems
Trajectory
Uncertainty
title "Localization space": a framework for localization and planning, for systems using a sensor/landmarks module
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