The Journal of Korea Robotics Society (로봇학회논문지)
- Volume 3 Issue 2
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- Pages.117-122
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- 2008
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- 1975-6291(pISSN)
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- 2287-3961(eISSN)
Robust Multidimensional Scaling for Multi-robot Localization
멀티로봇 위치 인식을 위한 강화 다차원 척도법
Abstract
This paper presents a multi-robot localization based on multidimensional scaling (MDS) in spite of the existence of incomplete and noisy data. While the traditional algorithms for MDS work on the full-rank distance matrix, there might be many missing data in the real world due to occlusions. Moreover, it has no considerations to dealing with the uncertainty due to noisy observations. We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr
Keywords