Uncertain spatial knowledge management in a mobile robot architecture

Piotr Skrzypczyński

doi:10.1109/MFI.2006.265600

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Title

Uncertain spatial knowledge management in a mobile robot architecture

Authors

Piotr Skrzypczyński (WE) ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2006

Chapter type

paper

Publication language

english

Abstract

EN In this paper a new approach to spatial knowledge management for a mobile robot is proposed. The framework merges two types of maps, grid and feature based, and two uncertainty representations, probabilistic and fuzzy. It is implemented by a set of logical sensors, that extract features from range sensors data, filter out artifacts, and estimate the robot displacement. Indoor simultaneous localization and mapping is considered as the target application.

Pages (from - to)

420 - 425

DOI

10.1109/MFI.2006.265600

URL

https://ieeexplore.ieee.org/document/4042017

Comments

Dokument elektroniczny

Book

Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference, 3-6 September 2006

Presented on

2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, 3-6.09.2006, Heidelberg, Germany

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