A Hybrid Framework for Mobile Robot Localization: Formulation Using Switching State-Space Models

Auton. Robots, pp. 169-191, 2003.

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Keywords:
localizationKalman filtersHidden Markov ModelsSwitching State-Space Modelshybrid models

Abstract:

In this paper we address one of the most important issues for autonomous mobile robots, namely their ability to localize themselves safely and reliably within their environments. We propose a probabilistic framework for modelling the robot's state and sensory information based on a Switching State-Space Model. The proposed framework gener...More

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