Integrating asynchronous observations for mobile robot position tracking in cooperative environments

@article{Murtra2009IntegratingAO,
  title={Integrating asynchronous observations for mobile robot position tracking in cooperative environments},
  author={Andreu Corominas Murtra and Josep M. Mirats Tur and Alberto Sanfeliu},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={3850-3855}
}
This paper presents an asynchronous particle filter algorithm for mobile robot position tracking, taking into account time considerations when integrating observations being delayed or advanced from the prior estiamate time point. The interest of that filter lies in cooperative environments and in fast vehicles. The paper studies the first case, where a sensor network shares perception data with running robots that receive accurate obeservations with large delays due to acquisition, processing… CONTINUE READING
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