PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion

Aragüés, Rosario; Sagüés, Carlos

doi:10.5220/0001500002520261

Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics Service 2008

DOI: 10.5220/0001500002520261

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PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion

Rosario Aragüés

Carlos Sagüés

Abstract: Abstract:In this paper we discuss feature parameterization and initialization for bearing-only data obtained from vision sensors. The interest of this work refers to the comparison of the bearing-only data representation and initialization techniques. The behavior of the algorithm is analyzed for different robot motions and depth of the features. The results are evaluated in terms of the sensitivity to step size and performance to ill conditioned situations. The problem studied refers to robots moving on the p… Show more

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Cited by 2 publications

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Motion control strategies for improved multi robot perception

Aragüés

Cortés

Sagüés

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper describes a strategy to select optimal motions of multi robot systems equipped with cameras in such a way that they can successively improve the observation of the environment. We present a solution designed for omnidirectional cameras, although the results can be extended to conventional cameras. The key idea is the selection of a finite set of candidate next positions for every robot within their local landmark-based stochastic maps. In this way, the cost function measuring the perception improvement when a robot moves to a new position can be easily evaluated on the finite set of candidate positions. Then, the robots in the team can coordinate based on these small pieces of information. The proposed strategy is designed to be integrated with a map merging algorithm where robots fuse their maps to get a more precise knowledge of the environment. The interest of the proposed strategy for uncertainty reduction is that it is suitable for visual sensing, allows an efficient information exchange, presents a low computational cost and makes the robot coordination easier.

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Motion control strategies for improved multi robot perception

Aragüés

Cortés

Sagüés

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Dynamic consensus for merging visual maps under limited communications

Aragüés

Cortés

Sagüés

2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-In this paper we present an algorithm for merging visual maps in a robot network. Along the operation, each robot observes the environment and builds and maintains its local map. Simultaneously, the robots communicate and build a global map of the environment. The communication between the robots is limited, and, at every time instant, each robot can only exchange data with its neighboring robots. We provide a distributed solution to the problem which does not rely on any particular communication topology and is robust to changes in the topology. Each robot computes and tracks the global map based on local interactions with its neighbors. Our contribution is the extension of distributed sensor fusion ideas to the problem of dynamic map merging. Under mild connectivity conditions on the communication graph, this algorithm asymptotically converges to the global map. The real experiments have been carried out with visual information, which is of special interest in robotics.

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PARAMETERIZATION AND INITIALIZATION OF BEARING-ONLY INFORMATION - A Discussion

Cited by 2 publications

References 11 publications

Motion control strategies for improved multi robot perception

Motion control strategies for improved multi robot perception

Dynamic consensus for merging visual maps under limited communications

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