TY - GEN
T1 - Reducing sensitivity to localization error through local search
AU - Anderson, Monica
AU - Papanikolopoulos, Nikolaos
PY - 2007
Y1 - 2007
N2 - Many researchers study the search of unknown areas with teams of cooperating robots. Robot cooperation often relies upon shared representations built from shared information. When robots share information, they inadvertently share the error associated with that information. In this research, we realistically assume that all position-based data has some amount of localization error. We model the propagation of this error in cooperative search. We conjecture that propagation of error differs based on whether search targets are shared or locally discovered. Search errors due to inaccurate position estimates are quantified and compared in both approaches via simulations.
AB - Many researchers study the search of unknown areas with teams of cooperating robots. Robot cooperation often relies upon shared representations built from shared information. When robots share information, they inadvertently share the error associated with that information. In this research, we realistically assume that all position-based data has some amount of localization error. We model the propagation of this error in cooperative search. We conjecture that propagation of error differs based on whether search targets are shared or locally discovered. Search errors due to inaccurate position estimates are quantified and compared in both approaches via simulations.
UR - http://www.scopus.com/inward/record.url?scp=51349128217&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349128217&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399333
DO - 10.1109/IROS.2007.4399333
M3 - Conference contribution
AN - SCOPUS:51349128217
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1339
EP - 1342
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -