TY - GEN
T1 - Probabilistic localization with a blind robot
AU - Erickson, Lawrence H.
AU - Knuth, Joseph
AU - O'Kane, Jason M.
AU - LaValle, Steven M.
PY - 2008
Y1 - 2008
N2 - Researchers have addressed the localization problem for mobile robots using many different kinds of sensors, including rangefinders, cameras, and odometers. In this paper, we consider localization using a robot that is virtually "blind", having only a clock and contact sensor at its disposal. This represents a drastic reduction in sensing requirements, even in light of existing work that considers localization with limited sensing. We present probabilistic techniques that represent and update the robot's position uncertainty and algorithms to reduce this uncertainty. We demonstrate the experimental effectiveness of these methods using a Roomba autonomous vacuum cleaner robot in laboratory environments.
AB - Researchers have addressed the localization problem for mobile robots using many different kinds of sensors, including rangefinders, cameras, and odometers. In this paper, we consider localization using a robot that is virtually "blind", having only a clock and contact sensor at its disposal. This represents a drastic reduction in sensing requirements, even in light of existing work that considers localization with limited sensing. We present probabilistic techniques that represent and update the robot's position uncertainty and algorithms to reduce this uncertainty. We demonstrate the experimental effectiveness of these methods using a Roomba autonomous vacuum cleaner robot in laboratory environments.
UR - http://www.scopus.com/inward/record.url?scp=51649107161&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649107161&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543472
DO - 10.1109/ROBOT.2008.4543472
M3 - Conference contribution
AN - SCOPUS:51649107161
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1821
EP - 1827
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -