Abstract
This paper proposes the use of negative detection information to improve multirobot Markov localization. In multirobot localization, the pose beliefs of two robots are updated whenever one robot detects another one and measures their relative distance. Negative detection information means absence of detection information and in general is not used in the updating of pose beliefs. However, it can also be informative and we argue that this information should be incorporated into the localization approach. We contribute to a negative detection model and show how it can be integrated into cooperative multirobot Markov localization. Experimental results show that the use of negative detection information leads to an improvement of localization accuracy.
This work was supported by Fapesp grant 01/14246-4, Capes grant BEX 0803/03-0, CNPq and Capes/Grices 099/03.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Fox, D., Burgard, W., Thrun, S.: Markov localization for mobile robots in dynamic environments. Journal of Artificial Intelligence Research 11, 391–427 (1999)
Cao, Y.U., Fukunaga, A.S., Kahng, A.B., Meng, F.: Cooperative mobile robotics: antecedents and directions. Autonomous Robots 4, 1–23 (1997)
Roumeliotis, S.I., Bekey, G.A.: Distributed multirobot localization. IEEE Transactions on Robotics and Automation 18(2), 781–795 (2002)
Fox, D., Burgard, W., Kruppa, H., Thrun, S.: A probabilistic approach to collaborative multi-robot localization. Autonomous Robots 8(3) (2000)
Odakura, V., Costa, A.H.R.: Cooperative multi-robot localization: using communication to reduce localization error. In: International Conference on Informatics in Control, Automation and Robotics - ICINCO 2005, pp. 88–93 (2005)
Koch, W.: On negative information in tracking and sensor data fusion: discussion of selected examples. In: Seventh International Conference on Information Fusion, pp. 91–98 (2004)
Hoffmann, J., Spranger, M., Gohring, D., Jungel, M.: Making use of what you dont see: Negative information in markov localization. In: IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2005, pp. 854–859. IEEE, Los Alamitos (2005)
Russell, S., Norvig, P.: Artificial Intelligence: A Modern Approach. Prentice-Hall, Englewood Cliffs (1995)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Odakura, V., Costa, A.H.R. (2006). Negative Information in Cooperative Multirobot Localization. In: Sichman, J.S., Coelho, H., Rezende, S.O. (eds) Advances in Artificial Intelligence - IBERAMIA-SBIA 2006. IBERAMIA SBIA 2006 2006. Lecture Notes in Computer Science(), vol 4140. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11874850_59
Download citation
DOI: https://doi.org/10.1007/11874850_59
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-45462-5
Online ISBN: 978-3-540-45464-9
eBook Packages: Computer ScienceComputer Science (R0)