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With the advent of latest technical advancements in the field of robotics, a stage has arrived where autonomous robots are expected to help humans in tasks that are either dangerous or too monotonous such as mining, search and rescue, floor cleaning. All these problems are derivatives of the coverage problem wherein the motto is to complete coverage of the environment in a time effective manner. Most...
Mobile robot localization is a very important problem in robotics as most robot's tasks need the positional information. Monte Carlo Localization(MCL) is one of the most popular and efficient localization algorithms for mobile robot localization. MCL algorithm represents a robot's pose by a set of weighted particles. In order to further improve the performance of MCL, many extensions have been proposed...
Mobile robot localization is a fundamental and very important problem in robotics. Grid localization and Monte Carlo localization (MCL) are two of the most widely used approaches for localization, especially the MCL. In this paper, we propose a novel global localization algorithm called moving grid cell based MCL, which takes advantages of both grid localization and MCL and overcomes their respective...
Mobile robot localization is the problem of determining the position of a mobile robot from sensor data. Active localization provides setting the robot's motion direction and determining the pointing direction of the sensors during localization so as to most efficiently localize the robot. This paper proposes an active localization approach that employs Monte Carlo Localization, which is based on...
Mobile robot localization is one of the most important problems in robotics research. A number of successful localization solutions have been proposed. However, in all these methods, the success or failure of localization is judged by normally a human operator of the robot, and the robot itself does not know whether it has or has not been localized. In this paper, we put forth a novel method to bring...
Localization and mapping in robotics are preliminary but challenging problems. A learning approach must be followed by a robot to understand its environment and perform data association before it accomplishes any other tasks. In this paper, we describe a novel combination of techniques to map the environmental boundaries traced by the robot and localize it inside the bounded region. This is an effort...
Cooperative multi-robot localization uses sensor measurements to estimate poses (locations, orientations) of robots in a given environment. Existing approach [3] updates a robot's belief of its pose instantly whenever it detects another robot. However, such instant update does not always contribute positively to the localization process, since both robots' pose estimates could be highly uncertain...
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