On Localization Uncertainty in an Autonomous Inspection
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00193335" target="_blank" >RIV/68407700:21230/12:00193335 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2012.6224706" target="_blank" >http://dx.doi.org/10.1109/ICRA.2012.6224706</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2012.6224706" target="_blank" >10.1109/ICRA.2012.6224706</a>
Alternative languages
Result language
angličtina
Original language name
On Localization Uncertainty in an Autonomous Inspection
Original language description
This paper presents a multi-goal path planning framework based on a self-organizing map algorithm and a model of the navigation describing evolution of the localization error. The framework combines finding a sequence of goals' visits with a goal-to-goalpath planning considering localization uncertainty. The approach is able to deal with local properties of the environment such as expected visible landmarks usable for the navigation. The local properties affect the performance of the navigation, and therefore, the framework can take the full advantage of the local information together with the global sequence of the goals' visits to find a path improving the autonomous navigation. Experimental results in real outdoor and indoor environments indicate that the framework provides paths that effectively decreases the localization uncertainty; thus, increases the reliability of the autonomous goals' visits.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
<a href="/en/project/LH11053" target="_blank" >LH11053: Control and Localization for Swarms of Low-cost Autonomous Robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 2012 IEEE International Conference on Robotic and Automation
ISBN
978-1-4673-1405-3
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1119-1124
Publisher name
IEEE
Place of publication
Piscataway
Event location
St. Paul, Minnesota
Event date
May 14, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000309406701020