한국정보과학회:학술대회논문집 (Proceedings of the Korean Information Science Society Conference)
- 한국정보과학회 2007년도 가을 학술발표논문집 Vol.34 No.2 (C)
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- Pages.433-438
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- 2007
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- 1598-5164(pISSN)
거리매칭에 기반한 다수로봇 위치추정
Multi-Robot Localization based on Distance Mapping
- Je, Hong-Mo (POSTECH) ;
- Kim, Jung-Tae (POSTECH) ;
- Kim, Dai-Jin (POSTECH)
- 발행 : 2007.10.26
초록
This paper presents a distance mapping-based localization method with incomplete data which means partially observed data. We make three contributions. First, we propose the use of Multi Dimensional Scaling (MDS) for multi-robot localization. Second, we formulate the problem to accomodate partial observations common in multi-robot settings. We solve the resulting optimization problem using #Scaling by Majorizing a Complicated function (SMACOF)#, a popular algorithm fur iterative MDS. Third, we not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).
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