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Handling heterogeneous information sources for multi-robot sensor fusion | IEEE Conference Publication | IEEE Xplore

Handling heterogeneous information sources for multi-robot sensor fusion


Abstract:

In real world scenarios, measurements from a robot's environment and their respective models are rarely homogeneous in terms of their uncertainty. Instead it is likely to...Show More

Abstract:

In real world scenarios, measurements from a robot's environment and their respective models are rarely homogeneous in terms of their uncertainty. Instead it is likely to have classes of objects that greatly differ in this respect, such as static and dynamic, unique and ambiguous or previously known and previously unknown objects. This paper extends the concept of FastSLAM to exploit this fact in order to more efficiently localize an autonomous mobile robot and simultaneously map features and track dynamic objects in its environment in a cooperative multi-robot scenario.
Date of Conference: 05-07 September 2010
Date Added to IEEE Xplore: 14 October 2010
ISBN Information:
Conference Location: Salt Lake City, UT, USA

References

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