Izvorni znanstveni članak
Sensing in Intelligent Spaces: Joint Use of Distributed and Onboard Sensors
Dražen Brščić
; Institute of Automatic Control, Tehnisce Universitaet Muenchen, Munich, Germany
Hideki Hashimoto
; Institute of Industrijal Science, University of Tokyo, Tokyo, Japan
Sažetak
This work considers the joint use of robot onboard sensors and a network of sensors distributed in the environment for tracking the position of the robot and other objects. This is motivated by our research on Intelligent Spaces, which combine the use of distributed sensors with mobile robots to provide various services to users. Here we analyze the distributed sensing using the extended information filter and computation issues that arise due to correlations between estimates. In turn we show how the correlations can be resolved with the use of Covariance Intersection at a cost of conservative estimates, and analyze two special cases where the issues related to correlations can be reduced.
Ključne riječi
Intelligent spaces; Mobile robots; Tracking; Sensor network
Hrčak ID:
47494
URI
Datum izdavanja:
22.12.2009.
Posjeta: 1.613 *