Self-localization of Anonymous Mobile Robots from Aerial Images
| Autor: | Frédéric Guinand, Olivier Poulet, Francois Guerin |
|---|---|
| Přispěvatelé: | Equipe Réseaux d'interactions et Intelligence Collective (RI2C - LITIS), Laboratoire d'Informatique, de Traitement de l'Information et des Systèmes (LITIS), Université Le Havre Normandie (ULH), Normandie Université (NU)-Normandie Université (NU)-Université de Rouen Normandie (UNIROUEN), Normandie Université (NU)-Institut national des sciences appliquées Rouen Normandie (INSA Rouen Normandie), Institut National des Sciences Appliquées (INSA)-Normandie Université (NU)-Institut National des Sciences Appliquées (INSA)-Université Le Havre Normandie (ULH), Institut National des Sciences Appliquées (INSA)-Normandie Université (NU)-Institut National des Sciences Appliquées (INSA), MathWorks, Groupe de Recherche en Electrotechnique et Automatique du Havre (GREAH), Normandie Université (NU)-Normandie Université (NU) |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Computer science Orientation (computer vision) business.industry 020208 electrical & electronic engineering Frame (networking) Mobile robot 02 engineering and technology [SPI.AUTO]Engineering Sciences [physics]/Automatic Identifier 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Trajectory Robot Augmented reality Computer vision [INFO]Computer Science [cs] Artificial intelligence business |
| Zdroj: | 2018 17th European Control Conference (ECC) 2018 17th European Control Conference (ECC), Jun 2018, Limassol, Cyprus. pp.1094-1099, ⟨10.23919/ECC.2018.8550091⟩ ECC |
| DOI: | 10.23919/ECC.2018.8550091⟩ |
| Popis: | International audience; This paper presents three methods for anonymous mobile robots localization within a global frame. An aerial camera takes, at regular time intervals, pictures of the area in which robots are moving. The camera determines the coordinates of each robot. Each robot receives the whole set of coordinates extracted from each picture. Mobile Robots are all identical, they do not have any identifier and they can neither communicate with each other nor they can detect themselves. The first localization method is based on the analysis of the angular variation between two images. The second method relies on the analysis of the distances stemmed from three successive pictures. The last one determines if there exists an orientation allowing a specific robot to travel the path between two successive positions. A simulation plateform using augmented reality and the multi-robot software Player-Stage are presented. This plateform is used for validating the different localization methods. Tests and results are presented and compared. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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