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

Franck Gechter 1 Vincent Chevrier 1 François Charpillet 1
1 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : 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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Communication dans un congrès
16th IEEE International Conference on Tools with Artificial Intelligence - ICTAI'2004, 2004, Boca Raton, Florida, pp.431-435, 2004
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https://hal.inria.fr/inria-00099971
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Soumis le : mardi 26 septembre 2006 - 10:13:00
Dernière modification le : jeudi 11 janvier 2018 - 06:19:51

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  • HAL Id : inria-00099971, version 1

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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, 2004. 〈inria-00099971〉

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