ICRA'09 Paper Abstract


Paper FrC7.2

Goehring, Daniel (Humboldt-Universitaet zu Berlin), Mellmann, Heinrich (Humboldt Universitšt zu Berlin), Burkhard, Hans-Dieter (Humboldt University of Berlin)

Constraint Based World Modeling in Mobile Robotics

Scheduled for presentation during the Regular Sessions "Motion Robotics" (FrC7), Friday, May 15, 2009, 13:50−14:10, Room: 405

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Autonomous Agents, Humanoid Robots, Localization


In this paper we present a novel approach using constraint based techniques for world modeling, i.e. self localization and object modeling. Within the last years, we have seen a reduction of landmarks such as beacons or colored goals within the RoboCup domain. Using other features as line information becomes more important. Using such sensor data is tricky, especially when the resulting position belief is stretched over a larger area. Constraints can overcome this limitations, as they have several advantages: they can represent large distributions and are easy to store and to communicate to other robots. Propagation of several constraints can be computationally cheap. Even high dimensional belief functions can be used. We will describe a sample implementation and show experimental results.



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