W. Burgard, D. Fox, and S. Thrun

Active Mobile Robot Localization

Proc. of the Fifteenth International Joint Conference on Artificial Intelligence (IJCAI'97)



Localization is the problem of determining the position of a mobile robot from sensor data. Most existing localization approaches are passive, i.e., they do not exploit the opportunity to control the robot's effectors during localization. This paper proposes an active localization approach. The approach provides rational criteria for (1) setting the robot's motion direction (exploration), and (2) determining the pointing direction of the sensors so as to most efficiently localize the robot. Furthermore, it is able to deal with noisy sensors and approximative world models. The appropriateness of our approach is demonstrated empirically using an RWI B21 mobile robot in a structured office environment.

An updated and extended version of this paper can be found in: Active Markov Localization for Mobile Robots.


Full paper [.ps.gz] (190 kb, 7 pages)


  AUTHOR            = {Burgard, W. and Fox, D. and Thrun, S.},
  TITLE                  = {Active Mobile Robot Localization},
  BOOKTITLE     = {Proc.~of the International Joint Conference on Artificial Intelligence},
  YEAR                   = {1997}

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