DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Kyungseo | ko |
dc.contributor.author | Kim, Jinwhan | ko |
dc.date.accessioned | 2021-11-29T06:46:14Z | - |
dc.date.available | 2021-11-29T06:46:14Z | - |
dc.date.created | 2021-11-25 | - |
dc.date.created | 2021-11-25 | - |
dc.date.created | 2021-11-25 | - |
dc.date.issued | 2021-09-28 | - |
dc.identifier.citation | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1499 - 1506 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | http://hdl.handle.net/10203/289605 | - |
dc.description.abstract | This study addresses the problem of path optimization for conducting a mapping mission using a multi-robot system with limited sensing capability, which aims to ensure efficient mapping with emphasis on the cooperative aspect of the mission. To achieve the cooperative mapping, a new path planning algorithm is proposed which can take advantage of the multi-robot system while dealing with the lack of observability due to the nature of bearing-only or range-only sensing. The Fisher information matrix is used to estimate the mapping uncertainty affected by the robots' geometric configuration. Also, a simple method to predict the convergence rate of the uncertainty over a short time horizon is presented for efficient path planning. The performance of the proposed algorithm is shown through simulations and compared with other path planning algorithms. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Path Optimization for Cooperative Mapping Using Multiple Robots with Limited Sensing Capabilities | - |
dc.type | Conference | - |
dc.identifier.wosid | 000755125501033 | - |
dc.identifier.scopusid | 2-s2.0-85124365568 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 1499 | - |
dc.citation.endingpage | 1506 | - |
dc.citation.publicationname | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | - |
dc.identifier.conferencecountry | CS | - |
dc.identifier.conferencelocation | Online | - |
dc.identifier.doi | 10.1109/IROS51168.2021.9635934 | - |
dc.contributor.localauthor | Kim, Jinwhan | - |
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