DocumentCode
3623851
Title
Uncertain Spatial Knowledge Management in a Mobile Robot Architecture
Author
Piotr Skrzypczynski
Author_Institution
Institute of Control and Information Engineering, Pozna? University of Technology, ul. Piotrowo 3A, PL-60-965 Pozna?, Poland. ps@ar-kari.put.poznan.pl
fYear
2006
Firstpage
420
Lastpage
425
Abstract
In this paper a new approach to spatial knowledge management for a mobile robot is proposed. The framework merges two types of maps, grid and feature based, and two uncertainty representations, probabilistic and fuzzy. It is implemented by a set of logical sensors, that extract features from range sensors data, filter out artifacts, and estimate the robot displacement. Indoor simultaneous localization and mapping is considered as the target application
Keywords
"Knowledge management","Mobile robots","Uncertainty","Robot sensing systems","Simultaneous localization and mapping","Robot kinematics","Legged locomotion","Sensor phenomena and characterization","Data mining","Filters"
Publisher
ieee
Conference_Titel
Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference on
Print_ISBN
1-4244-0566-1
Type
conf
DOI
10.1109/MFI.2006.265600
Filename
4042017
Link To Document