Relaxation on a Mesh: a Formalism for Generalized Localization

Relaxation on a Mesh: a Formalism for Generalized Localization (2001)

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by Andrew Howard , Maja J Mataric , Gaurav Sukhatme

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Datum	Value	Source
TITLE	Relaxation on a Mesh: a Formalism for Generalized Localization	user correction - Legacy Corrections
AUTHOR NAME	Andrew Howard	user correction - Legacy Corrections
AUTHOR AFFIL	Robotics Research Labs, Computer Science Department,; University of Southern California	user correction - Legacy Corrections
AUTHOR NAME	Maja J Mataric	user correction - Legacy Corrections
AUTHOR AFFIL	Robotics Research Labs, Computer Science Department,; University of Southern California	user correction - Legacy Corrections
AUTHOR NAME	Gaurav Sukhatme	user correction - Legacy Corrections
AUTHOR AFFIL	Robotics Research Labs, Computer Science Department,; University of Southern California	user correction - Legacy Corrections
ABSTRACT	This paper considers two problems which at first sight appear to be quite distinct: localizing a robot in an unknown environment and calibrating an embedded sensor network. We show that both of these can be formulated as special cases of a generalized localization problem. In the standard localization problem, the aim is to determine the pose of some object (usually a mobile robot) relative to a global coordinate system. In our generalized version, the aim is to determine the pose of all elements in a network (both fixed and mobile) relative to an arbitrary global coordinate system. We have developed a physically inspired `meshbased ' formalism for solving such problems. This paper outlines the formalism, and describes its application to the concrete tasks of multi-robot mapping and calibration of a distributed sensor network. The paper presents experimental results for both tasks obtained using a set of Pioneer mobile robots equipped with scanning laser range-finders.	user correction - Legacy Corrections
YEAR	2001	INFERENCE
VENUE TYPE	CONFERENCE	INFERENCE
PAGES	1055--1060	INFERENCE
CITATIONS	12 found	ParsCit 1.0