Uncertainty models of vision sensors in mobile robot positioning
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2005
scientific article
english
- mobile robots
- vision sensors
- positioning
- uncertainty
- action planning
- multi-agent systems
EN 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.
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