loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Dario Lodi Rizzini 1 ; Francesco Monica 1 ; Stefano Caselli 1 and Monica Reggiani 2

Affiliations: 1 Università di Parma, Italy ; 2 Università di Verona, Italy

ISBN: 978-972-8865-83-2

Keyword(s): Robot Localization, Real-Time, Particle Filters.

Related Ontology Subjects/Areas/Topics: Human-Robots Interfaces ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: Exploiting a particle filter for robot localization requires expensive filter computations to be performed at the rate of incoming sensor data. These high computational requirements prevent exploitation of advanced localization techniques in many robot navigation settings. The Real-Time Particle Filter (RTPF) provides a tradeoff between sensor management and filter performance by adopting a mixture representation for the set of samples. In this paper, we propose two main improvements in the design of a RTPF for robot localization. First, we describe a novel solution for computing mixture parameters relying on the notion of effective sample size. Second, we illustrate a library for RTPF design based on generic programming and providing both flexibility in the customization of RTPF modules and efficiency in filter computation. In the paper, we also report results comparing the localization performance of the proposed extension and of the original RTPF algorithm.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 34.204.176.189

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Lodi Rizzini D.; Monica F.; Caselli S.; Reggiani M. and (2007). ADDRESSING COMPLEXITY ISSUES IN A REAL-TIME PARTICLE FILTER FOR ROBOT LOCALIZATION.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 355-362. DOI: 10.5220/0001617503550362

@conference{icinco07,
author={Dario {Lodi Rizzini} and Francesco Monica and Stefano Caselli and Monica Reggiani},
title={ADDRESSING COMPLEXITY ISSUES IN A REAL-TIME PARTICLE FILTER FOR ROBOT LOCALIZATION},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={355-362},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001617503550362},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ADDRESSING COMPLEXITY ISSUES IN A REAL-TIME PARTICLE FILTER FOR ROBOT LOCALIZATION
SN - 978-972-8865-83-2
AU - Lodi Rizzini, D.
AU - Monica, F.
AU - Caselli, S.
AU - Reggiani, M.
PY - 2007
SP - 355
EP - 362
DO - 10.5220/0001617503550362

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.