| 1. |
- Canovas, Juan-Pedro, et al.
(author)
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Robust multi-robot object localization using fuzzy logic
- 2005
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In: RoboCup 2004. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783540250463 ; , s. 247-261
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Conference paper (peer-reviewed)abstract
- Cooperative localization of objects is an important challenge in multi-robot systems. We propose a new approach to this problem where we see each robot as an expert which shares unreliable information about object locations. The information provided by different robots is then combined using fuzzy logic techniques, in order to reach a consensus between the robots. This contrasts with most current probabilistic techniques, which average information from different robots in order to obtain a tradeoff, and can thus incur well-known problems when information is unreliable. In addition, our approach does not assume that the robots have accurate self-localization. Instead, uncertainty in the pose of the sensing robot is propagated to object position estimates. We present experimental results obtained on a team of Sony AIBO robots, where we share information about the location of the ball in the RoboCup domain
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| 2. |
- Herrero-Pérez, David, et al.
(author)
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Fuzzy self-localization using natural features in the four-legged league
- 2004
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In: RoboCup 2004. - Berlin, Heidelberg : Springer Berlin/Heidelberg. - 9783540250463 ; , s. 110-121
-
Conference paper (peer-reviewed)abstract
- In the RoboCup four-legged league, robots mainly rely on artificial coloured landmarks for localisation. As it was done in other leagues, artificial landmarks will soon be removed as part of the RoboCup push toward playing in more natural environments. Unfortunately, the robots in this league have very unreliable odometry due to poor modeling of legged locomotion and to undetected collisions. This makes the use of robust sensor-based localization a necessity. We present an extension of our previous technique for fuzzy self-localization based on artificial landmarks, by including observations of features that occur naturally in the soccer field. In this paper, we focus on the use of corners between the field lines. We show experimental results obtained using these features together with the two nets. Eventually, our approach should allow us to migrate from landmarks-only to line-only localisation.
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