Detection and Recovery for Kidnapped-robot Problem Using Measurement Entropy
- Title
- Detection and Recovery for Kidnapped-robot Problem Using Measurement Entropy
- Author
- 최병욱
- Keywords
- Mobile Robot; Measurement Entropy; Single Camera; Robot Location; Measurement Likelihood
- Issue Date
- 2011-12
- Publisher
- Springer Science and Business Media
- Citation
- COMMUNICATIONS IN COMPUTER AND INFORMATION SCIENCE, 2011, 261, P.293-299
- Abstract
- In robotics, the kidnapped robot problem commonly refers to a situation where an autonomous robot in operation is carried to an arbitrary location[1]. This is a very serious issue, and because the robot only computes its position in accordance with mathematical models, it is difficult to determine whether or not its position is being accurately reported. In this paper, to solve the kidnapped-robot problem, we suggest a method of automatic detection and recovery, using the entropy extracted from measurement likelihoods in our own technique of semantic localization. We verify the usefulness of the proposed procedure via repeated indoor localization experiments.
- URI
- https://link.springer.com/chapter/10.1007/978-3-642-27180-9_36http://hdl.handle.net/20.500.11754/65887
- ISSN
- 1865-0929
- DOI
- 10.1007/978-3-642-27180-9_36
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > COMPUTER SCIENCE(컴퓨터소프트웨어학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML