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)


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.


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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Engelson, S., McDermott, D.: Error correction in mobile robot map learning. In: Proc. of IEEE Int. Conf. on Robotics and Automation, vol. 3, pp. 2555–2560 (1992)Google Scholar
  2. 2.
    Choset, H., Lynch, K., Hutchinson, S., Kantor, G., Burgard, W., Kavraki, L., Thrun, S.: Principles of robot motion: theory, algorithms, and implementation, p. 302 (2005)Google Scholar
  3. 3.
    Elfes, A.: Using occupancy grids for mobile robot perception and navigation. IEEE Computer 22, 44–57 (1989)CrossRefGoogle Scholar
  4. 4.
    Miro, V., Zhou, J., Dissanayake, W.: Towards vision based navigation in large indoor environments. In: Proceeding of IEEE the IROS, pp. 2096–2102 (2006)Google Scholar
  5. 5.
    Karlsson, N., Bernardo, E.D., Ostrowski, J., Goncalves, L., Pirjanian, P., Munich, M.E.: The vSLAM Algorithm for Robust Localization and Mapping. In: Proceeding of the ICRA (2006)Google Scholar
  6. 6.
    Beeson, P., Kuipers, B.: Towards Autonomous Topological Place Detection Using the Extended Voronoi Graph. In: Proceeding of IEEE ICRA, pp. 4384–4390 (2005)Google Scholar
  7. 7.
    Kuipers, B.: The Spatial Semantic Hierarchy. Artificial Intelligence, 191–233 (2000)Google Scholar
  8. 8.
    Tully, S., Moon, H., Morales, D., Kantor, G., Choset, H.: Hybrid Localization using the Hierarchical Atlas. In: Proceeding of IEEE the IROS, pp. 2857–2864 (2007)Google Scholar
  9. 9.
    Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press, Cambridge (2005)zbMATHGoogle Scholar
  10. 10.
    Krieg-Brückner, B., Frese, U., Lüttich, K., Mandel, C., Mossakowski, T., Ross, R.J.: Specification of an Ontology for Route Graphs. In: Freksa, C., Knauff, M., Krieg-Brückner, B., Nebel, B., Barkowsky, T. (eds.) Spatial Cognition IV. LNCS (LNAI), vol. 3343, pp. 390–412. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  11. 11.
    Bateman, J.A., Farrar, S.: Modelling Models of Robot Navigation Using Formal Spatial Ontology. In: Freksa, C., Knauff, M., Krieg-Brückner, B., Nebel, B., Barkowsky, T. (eds.) Spatial Cognition IV. LNCS (LNAI), vol. 3343, pp. 366–389. Springer, Heidelberg (2005)CrossRefGoogle Scholar
  12. 12.
    Yi, C., Suh, I.H., Lim, G.H., Choi, B.-U.: Bayesian Robot Localization using Spatial Object Contexts. In: Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent RObots and Systems, pp. 3467–3473 (2009)Google Scholar
  13. 13.
    Lee, J., Lee, K., Ahn, S., Choi, J., Chung, W.K.: mplementation of Global Localization and Kidnap Recovery for Mobile Robot on Feature Map. The Journal of Korea Robotics Society, 29–39 (2007)Google Scholar
  14. 14.
    Munich, M., Pirjanian, P., Bernardo, E., Goncalves, L., Karlsson, N., Lowe, D.: SIFT-ing Through Features with ViPR. IEEE Robotics and Automation Magazine, 72–77 (2006)Google Scholar

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

Personalised recommendations