Almost-Sensorless Localization
We present a localization method for robots equipped with only a compass, a contact sensor and a map of the environment. In this framework, a localization strategy can be described as a sequence of directions in which the robot moves maximally. We show that a localizing sequence exists for any simpl...
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| creator | O'Kane, J.M. LaValle, S.M. |
| description | We present a localization method for robots equipped with only a compass, a contact sensor and a map of the environment. In this framework, a localization strategy can be described as a sequence of directions in which the robot moves maximally. We show that a localizing sequence exists for any simply connected polygonal environment by presenting an algorithm for computing such a sequence. We have implemented the algorithm and we present several computed examples. We also show that the sensing model is minimal by showing that replacement of the compass by an angular odometer precludes the possibility of performing localization. |
| doi_str_mv | 10.1109/ROBOT.2005.1570694 |
| format | Conference Proceeding |
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In this framework, a localization strategy can be described as a sequence of directions in which the robot moves maximally. We show that a localizing sequence exists for any simply connected polygonal environment by presenting an algorithm for computing such a sequence. We have implemented the algorithm and we present several computed examples. We also show that the sensing model is minimal by showing that replacement of the compass by an angular odometer precludes the possibility of performing localization.</description><subject>Computer science</subject><subject>Costs</subject><subject>Decision trees</subject><subject>Greedy algorithms</subject><subject>Navigation</subject><subject>Orbital robotics</subject><subject>Robot sensing systems</subject><subject>Robustness</subject><subject>Uncertainty</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>078038914X</isbn><isbn>9780780389144</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2005</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj8tKw0AUQAcfYFr7AwriD0y8d953WYuPQiCgFbork_QORNJGMtno1yvY1VkcOHCEuEEoEYEe3urHelMqAFui9eDInIlCWe8lBL89FzPwAXQgNNsLUSBYkMYruhKLnD8BAMkROF-Iu2V_GPIk3_mYh7HnnO-roY199xOnbjhei8sU-8yLE-fi4_lps3qVVf2yXi0r2SmkSQYGpaKlYF20DZu23TeQkiHHIRi9_xOElBhsJKuT843R2rJhBI-NT3oubv-7HTPvvsbuEMfv3WlN_wKpVD9s</recordid><startdate>2005</startdate><enddate>2005</enddate><creator>O'Kane, J.M.</creator><creator>LaValle, S.M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>2005</creationdate><title>Almost-Sensorless Localization</title><author>O'Kane, J.M. ; LaValle, S.M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i219t-8e022a59856a5be4ccdb0ff496e8843d985919fe05a953f67b4335e4e1071b7f3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Computer science</topic><topic>Costs</topic><topic>Decision trees</topic><topic>Greedy algorithms</topic><topic>Navigation</topic><topic>Orbital robotics</topic><topic>Robot sensing systems</topic><topic>Robustness</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>O'Kane, J.M.</creatorcontrib><creatorcontrib>LaValle, S.M.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>O'Kane, J.M.</au><au>LaValle, S.M.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Almost-Sensorless Localization</atitle><btitle>Proceedings of the 2005 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>2005</date><risdate>2005</risdate><spage>3764</spage><epage>3769</epage><pages>3764-3769</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>078038914X</isbn><isbn>9780780389144</isbn><abstract>We present a localization method for robots equipped with only a compass, a contact sensor and a map of the environment. In this framework, a localization strategy can be described as a sequence of directions in which the robot moves maximally. We show that a localizing sequence exists for any simply connected polygonal environment by presenting an algorithm for computing such a sequence. We have implemented the algorithm and we present several computed examples. We also show that the sensing model is minimal by showing that replacement of the compass by an angular odometer precludes the possibility of performing localization.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.2005.1570694</doi><tpages>6</tpages><oa>free_for_read</oa></addata></record> |
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| identifier | ISSN: 1050-4729 |
| ispartof | Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005, p.3764-3769 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_1570694 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Computer science Costs Decision trees Greedy algorithms Navigation Orbital robotics Robot sensing systems Robustness Uncertainty |
| title | Almost-Sensorless Localization |
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