dc.creator | Torres González, Arturo Eugenio | es |
dc.creator | Martínez de Dios, José Ramiro | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2016-11-15T16:42:43Z | |
dc.date.available | 2016-11-15T16:42:43Z | |
dc.date.issued | 2014-04-25 | |
dc.identifier.citation | Torres-González, A.E., Martínez de Dios, J.R. y Ollero Baturone, A. (2014). An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements. Sensors, 14 (5), 7684-7710. | |
dc.identifier.issn | 1424-8220 | es |
dc.identifier.uri | http://hdl.handle.net/11441/48654 | |
dc.description.abstract | This work is motivated by robot-sensor network cooperation techniques where
sensor nodes (beacons) are used as landmarks for range-only (RO) simultaneous localization
and mapping (SLAM). This paper presents a RO-SLAM scheme that actuates over the
measurement gathering process using mechanisms that dynamically modify the rate and
variety of measurements that are integrated in the SLAM filter. It includes a measurement
gathering module that can be configured to collect direct robot-beacon and inter-beacon
measurements with different inter-beacon depth levels and at different rates. It also includes
a supervision module that monitors the SLAM performance and dynamically selects the
measurement gathering configuration balancing SLAM accuracy and resource consumption.
The proposed scheme has been applied to an extended Kalman filter SLAM with auxiliary
particle filters for beacon initialization (PF-EKF SLAM) and validated with experiments
performed in the CONET Integrated Testbed. It achieved lower map and robot errors (34%
and 14%, respectively) than traditional methods with a lower computational burden (16%)
and similar beacon energy consumption. | es |
dc.description.sponsorship | Unión Europea ICT-2011-288082 | es |
dc.description.sponsorship | CLEAR (DPI2011-28937-C02-01) | es |
dc.description.sponsorship | Ministerio de Educación y Deportes | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | MDPI | es |
dc.relation.ispartof | Sensors, 14 (5), 7684-7710. | es |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Robot-sensor network cooperation | es |
dc.subject | Range-only SLAM | es |
dc.subject | Sensor networks | es |
dc.title | An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | ICT-2011-288082 | es |
dc.relation.projectID | DPI2011-28937-C02-01 | es |
dc.relation.publisherversion | http://www.mdpi.com/1424-8220/14/5/7684 | es |
dc.identifier.doi | 10.3390/s140507684 | es |
idus.format.extent | 27 | es |
dc.journaltitle | Sensors | es |
dc.publication.volumen | 14 | es |
dc.publication.issue | 5 | es |
dc.publication.initialPage | 7684 | es |
dc.publication.endPage | 7710 | es |
dc.identifier.idus | https://idus.us.es/xmlui/handle/11441/48654 | |