Uncertainty Models of Vision Sensors in Mobile Robot Positioning

Skrzypczyński, P.

International Journal of Applied Mathematics and Computer Science, Tome 15 (2005) no. 1, pp. 73-88.

Résumé

This paper discusses how uncertainty models of vision-based positioning sensors can be used to support the planning and optimization of positioning actions for mobile robots. Two sensor types are considered: a global vision with overhead cameras, and an on-board camera observing artificial landmarks. The developed sensor models are applied to optimize robot positioning actions in a distributed system of mobile robots and monitoring sensors, and to plan the sequence of actions for a robot cooperating with the external infrastructure supporting its navigation.

Détail

Keywords: mobile robots, vision sensors, positioning, uncertainty, action planning, multi-agent systems
Mots-clés : robot mobilny, sensor wizyjny, system wieloagentowy

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