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Communication Dans Un Congrès Année : 2004

A Reactive Multi-Agent System for Localization and Tracking in Mobile Robotics

Franck Gechter
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Vincent Chevrier

Résumé

Localization and target-tracking are both difficult yet essential and wide spread tasks in mobile robotics. Localization can be defined as determining the position of an object within a reference coordinate system, tracking consists of constructing a trajectory given a collection of spatially and temporally coherent localizations. We propose in this paper a swarm approach to address these issues using an interaction paradigm inspired from physics. The combination of different interactions such as attraction, repulsion, consumption and evaporation results in a self-organized process that builds patterns interpreted as solutions of the problem. After a description of the proposed model, this paper analyses the properties and the performance of our device through experiments in simulation and with real robots. In particular, a comparison with the standard Kalman filtering method demonstrates the relevancy of our approach. Moreover, it improves upon traditional ones int terms of robustness, adaptability, and data fusion capabilities.
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Dates et versions

inria-00099971 , version 1 (26-09-2006)

Identifiants

  • HAL Id : inria-00099971 , version 1

Citer

Franck Gechter, Vincent Chevrier, François Charpillet. A Reactive Multi-Agent System for Localization and Tracking in Mobile Robotics. 16th IEEE International Conference on Tools with Artificial Intelligence - ICTAI'2004, 2004, Boca Raton, Florida, pp.431-435. ⟨inria-00099971⟩
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