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.
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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|Item Type:||Conference Paper|
multimode outdoor robot monitoring
robot motion monitoring
mode transition probability
|Keywords:||mobile robots, Hidden Markov Models, monitoring, navigation, probability|
|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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