Microsoft PowerPoint Presentation

9/20/99


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Table of Contents

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Robot Localization as State Estimation

Integration of Sensor Information

Integration of Robot Motion

Markov Localization Algorithm

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Multi-robot Localization: Idea

Robot Detection

Model of Detection Sensor

Multi-robot Localization

Multi-robot Localization

Belief Update in Multi-robot Localization

Density Trees

Example Situation

Marian’s Belief

Marian’s Belief about Robin’s Position

Tree Representation

Observation Density

Importance Sampling

Robin’s Belief after Resampling

Example Run

Experimental Results (1)

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Experimental Results (2)

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Related Work on Multi-Robot Localization

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Problems

Author: fox

Email: dfox@cs.cmu.edu

Home Page: www.cs.cmu.edu/~dfox