A robust localization algorithm in topological maps with dynamics

N. L. Doh; K. Lee; J. Huh; N. Cho; J. Lee; W. K. Chung; Y. J. Cho

doi:10.1109/ROBOT.2005.1570791

A robust localization algorithm in topological maps with dynamics

N. L. Doh, K. Lee, J. Huh, N. Cho, J. Lee, W. K. Chung, Y. J. Cho

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

A localization algorithm for topological maps with dynamics is proposed in this paper. Especially, this algorithm considers a localization when some nodes are deleted by door closing and has two main features. First, lots of edge information are used in efficient way. Second, the algorithm calculates probability of a node to be the current location in a systematic and general way. Experiments in a topological map with dynamics are conducted to show the performance of the proposed algorithm.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	4361-4366
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570791
Publication status	Published - 2005
Externally published	Yes
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2005.1570791

Cite this

Doh, N. L., Lee, K., Huh, J., Cho, N., Lee, J., Chung, W. K., & Cho, Y. J. (2005). A robust localization algorithm in topological maps with dynamics. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 4361-4366). Article 1570791 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570791

A robust localization algorithm in topological maps with dynamics. / Doh, N. L.; Lee, K.; Huh, J. et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 4361-4366 1570791 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Doh, NL, Lee, K, Huh, J, Cho, N, Lee, J, Chung, WK & Cho, YJ 2005, A robust localization algorithm in topological maps with dynamics. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570791, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 4361-4366, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570791

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author = "Doh, {N. L.} and K. Lee and J. Huh and N. Cho and J. Lee and Chung, {W. K.} and Cho, {Y. J.}",

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AB - A localization algorithm for topological maps with dynamics is proposed in this paper. Especially, this algorithm considers a localization when some nodes are deleted by door closing and has two main features. First, lots of edge information are used in efficient way. Second, the algorithm calculates probability of a node to be the current location in a systematic and general way. Experiments in a topological map with dynamics are conducted to show the performance of the proposed algorithm.

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ER -

A robust localization algorithm in topological maps with dynamics

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