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dc.contributor.authorCorominas Murtra, Andreu
dc.contributor.authorMirats Tur, Josep Maria
dc.contributor.authorSanfeliu Cortés, Alberto
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2010-04-08T14:24:09Z
dc.date.available2010-04-08T14:24:09Z
dc.date.created2009-10-11
dc.date.issued2009-10-11
dc.identifier.citationCorominas, A.; Mirats, J.; Sanfeliu, A. Integrating asynchronous observations for mobile robot position tracking in cooperative environments. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems". St. Louis, MO: IEEE Press. Institute of Electrical and Electronics Engineers, 2009, p. 3850-3855.
dc.identifier.isbn978-1-4244-3804-4
dc.identifier.urihttp://hdl.handle.net/2117/6886
dc.description.abstractThis paper presents an asynchronous particle filter algorithm for mobile robot position tracking, taking into account time considerations when integrating observations being delayed or advanced from the prior estiamate time point. The interest of that filter lies in cooperative environments and in fast vehicles. The paper studies the first case, where a sensor network shares perception data with running robots that receive accurate obeservations with large delays due to acquisition, processing and wireless communications. Promising simulated results comparing a basic particle filter and the proposed one are shown. The paper also investigates a situation where a robot is tracking its position, fusing only odometry and observations from a camera network partially covering the robot path.
dc.format.extent6 p.
dc.language.isoeng
dc.publisherIEEE Press. Institute of Electrical and Electronics Engineers
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshMobile robots
dc.subject.lcshWireless sensor networks
dc.titleIntegrating asynchronous observations for mobile robot position tracking in cooperative environments
dc.typeConference report
dc.subject.lemacRobots mòbils
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Mobile robots
dc.relation.publisherversionhttp://dx.doi.org/10.1109/IROS.2009.5354502
dc.rights.accessOpen Access
local.identifier.drac2358905
dc.description.versionPostprint (published version)
local.citation.authorCorominas, A.; Mirats, J.; Sanfeliu, A.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.pubplaceSt. Louis, MO
local.citation.publicationNameIROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.startingPage3850
local.citation.endingPage3855


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