A probabilistic framework to monitor a multi-mode outdoor robot

Peynot, Thierry & Lacroix, Simon (2005) A probabilistic framework to monitor a multi-mode outdoor robot. In Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Edmonton, Canada, pp. 2881-2886.

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This paper presents an approach to autonomously monitor the behavior of a robot endowed with several navigation and locomotion modes, adapted to the terrain to traverse. The mode selection process is done in two steps: the best suited mode is firstly selected on the basis of initial information or a qualitative map built on-line by the robot. Then, the motions of the robot are monitored by various processes that update mode transition probabilities in a Markov system. The paper focuses on this latter selection process: the overall approach is depicted, and preliminary experimental results are presented

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ID Code: 67663
Item Type: Conference Paper
Refereed: Yes
Additional Information: 8734854
multimode outdoor robot monitoring
robot navigation
robot locomotion
terrain adaptation
mode selection
qualitative map
robot motion monitoring
mode transition probability
Markov system
Markov chain
Keywords: mobile robots, Hidden Markov Models, monitoring, navigation, probability
DOI: 10.1109/IROS.2005.1545287
ISBN: 0780389123
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2005 IEEE
Copyright Statement: Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Deposited On: 06 Mar 2014 01:24
Last Modified: 26 Mar 2014 15:17

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