PARTICLE-FILTER APPROACH AND MOTION STRATEGY FOR COOPERATIVE LOCALIZATION

Fernando Gomez Bravo; Alberto Vale; Maria Isabel Ribeiro

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Paper

PARTICLE-FILTER APPROACH AND MOTION STRATEGY FOR COOPERATIVE LOCALIZATION

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 50-57, 2006 , Setúbal, Portugal

Authors: Fernando Gomez Bravo ¹ ; Alberto Vale ² and Maria Isabel Ribeiro ²

Affiliations: ¹ Univ. de Huelva, Spain ; ² Institute for Systems and Robotics, Instituto Superior Técnico, Portugal

Keyword(s): Particle-Filter, Cooperative Localization, Navigation Strategies.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper proposes a Particle-Filter approach and a set of motion strategies to cooperatively localize a team of three robots. The allocated mission consists on the path following of a closed trajectory and obstacle avoidance in isolated and unstructured scenarios. The localization methodology required for the correct path following relies on distance and orientation measurements among the robots and the robots and a fixed active beacon. Simulation results are presented.

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Paper citation in several formats:

Gomez Bravo, F.; Vale, A. and Isabel Ribeiro, M. (2006). PARTICLE-FILTER APPROACH AND MOTION STRATEGY FOR COOPERATIVE LOCALIZATION. In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 50-57. DOI: 10.5220/0001203300500057

@conference{icinco06,
author={Fernando {Gomez Bravo}. and Alberto Vale. and Maria {Isabel Ribeiro}.},
title={PARTICLE-FILTER APPROACH AND MOTION STRATEGY FOR COOPERATIVE LOCALIZATION},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2006},
pages={50-57},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001203300500057},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - PARTICLE-FILTER APPROACH AND MOTION STRATEGY FOR COOPERATIVE LOCALIZATION
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Gomez Bravo, F.
AU - Vale, A.
AU - Isabel Ribeiro, M.
PY - 2006
SP - 50
EP - 57
DO - 10.5220/0001203300500057
PB - SciTePress