Original scientific paper

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

Abstract

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.

Keywords

Intelligent spaces; Mobile robots; Tracking; Sensor network

Hrčak ID:

47494

URI

https://hrcak.srce.hr/47494

Publication date:

22.12.2009.

Article data in other languages: croatian

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