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http://dx.doi.org/10.7471/ikeee.2013.17.4.434

Efficient Placement of Artificial Landmarks for Low-cost Localization of a Mobile Robot  

Kim, Jiwoong (School of Mechanical Engineering, Korea University)
Chung, Woojin (School of Mechanical Engineering, Korea University)
Publication Information
Journal of IKEEE / v.17, no.4, 2013 , pp. 434-439 More about this Journal
Abstract
Artificial landmarks have been widely used for reducing the uncertainty in localization of a mobile robot. In addition, research for efficient placement of artificial landmarks has been considered as one of the fundamental issues since the cost of localization is increased with the number of used landmarks. Therefore, this paper proposes a method in which landmarks are efficiently placed by considering the uncertainty characteristics of the motion model and the sensor model. Because two models have different uncertainty distributions, the final uncertainty can be considerably reduced through their efficient combination. The usefulness of the proposed method is demonstrated by simulation results.
Keywords
Localization; Artificial Landmarks; Uncertainty; Motion Model; Sensor Model;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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