Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Motion control strategies for improved multi robot perception
R. Aragüés, J. Cortés, and
C. Sagüés
Proceedings of the IEEE/RSJ Conference on
Intelligent Robots and Systems, St. Louis, MI, October 2009, pp. 1065-1070
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 function
cost 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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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo