Detection and Recovery for Kidnapped-Robot Problem Using Measurement Entropy

  • Chuho Yi
  • Byung-Uk Choi
Part of the Communications in Computer and Information Science book series (CCIS, volume 261)

Abstract

In robotics, the kidnapped robot problem commonly refers to a situation where an autonomous robot in operation is carried to an arbitrary location[1]. This is a very serious issue, and because the robot only computes its position in accordance with mathematical models, it is difficult to determine whether or not its position is being accurately reported. In this paper, to solve the kidnapped-robot problem, we suggest a method of automatic detection and recovery, using the entropy extracted from measurement likelihoods in our own technique of semantic localization. We verify the usefulness of the proposed procedure via repeated indoor localization experiments.

Keywords

Mobile Robot Measurement Entropy Single Camera Robot Location Measurement Likelihood 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Chuho Yi
    • 1
  • Byung-Uk Choi
    • 1
  1. 1.Department of Electronics and Computer EngineeringHanyang UniversitySeoulKorea

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