Learn More
The subject of this article is a scheme for distributed outdoor localization of a team of robots and the use of the robot team for outdoor terrain mapping. Localization is accomplished via Extended Kalman Filtering (EKF). In the distributed EKF-based scheme for localization, heterogeneity of the available sensors is exploited in the absence or degradation(More)
—An Extended Kalman Filter-based algorithm for the localization of a team of robots is described in this paper. The distributed EKF localization scheme is straightforward in that the individual robots maintain a pose estimate using EKFs that are local to every robot. We then show how these results can be extended to perform heterogeneous cooperative(More)
— This paper describes a terrain-aided navigation system that employs points of maximum curvature extracted from laser scan data as primary landmarks. A scale space method is used to extract points of maximum curvature from laser range scans of unmodified outdoor environments. This information is then fused with odometric information to provide localization(More)
PerMIS'07 will be the seventh in the series that started in 2000, targeted at defining measures and methodologies of evaluating performance of intelligent systems. The workshop has proved to be an excellent forum for discussions and partnerships , dissemination of ideas, and future collaborations in an informal setting. FOREWORD The 2008 Performance Metrics(More)