Robots from Nowhere

  • Hatice Köse
  • H. Levent Akın
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3276)

Abstract

In this study, a new method called Reverse Monte Carlo Localization (R-MCL) for global localization of autonomous mobile agents in the robotic soccer domain is proposed to overcome the uncertainty in the sensors, environment and the motion model. This is a hybrid method based on both Markov Localization(ML) and Monte Carlo Localization(MCL) where the ML module finds the region where the robot should be and MCL predicts the geometrical location with high precision by selecting samples in this region. The method is very robust and fast and requires less computational power and memory compared to similar approaches and is accurate enough for high level decision making which is vital for robot soccer.

Keywords

Global localization ML MCL robot soccer 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Hatice Köse
    • 1
  • H. Levent Akın
    • 1
  1. 1.Department of Computer EngineeringBoğaziçi UniversityBebek, IstanbulTurkey

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