Localizing Overlapping Parts by Searching the Interpretation Tree
IEEE Transactions on Pattern Analysis and Machine Intelligence
Principles of artificial intelligence
Principles of artificial intelligence
Automatic Sensor Placement from Vision Task Requirements
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special Issue on Industrial Machine Vision and Computer Vision Technology:8MPart
A geometric approach to error detection and recovery for robot motion planning with uncertainty
Artificial Intelligence - Special issue on geometric reasoning
Robot motion planning with uncertainty in control and sensing
Artificial Intelligence
The robot localization problem in two dimensions
SODA '92 Proceedings of the third annual ACM-SIAM symposium on Discrete algorithms
A 3D world model builder with a mobile robot
International Journal of Robotics Research
Dynamic map building for an autonomous mobile robot
International Journal of Robotics Research
Robot Motion Planning
Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception
Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception
Data Structures and Algorithms
Data Structures and Algorithms
The Design of a Mechanical Assembly System
The Design of a Mechanical Assembly System
On Motion Planning with Uncertainty
On Motion Planning with Uncertainty
The synthesis of manipulator control programs from task-level specifications.
The synthesis of manipulator control programs from task-level specifications.
A video-based virtual reality system
Proceedings of the ACM symposium on Virtual reality software and technology
Selecting Landmarks for Localization in Natural Terrain
Autonomous Robots
Journal of Intelligent and Robotic Systems
MINERVA: A Tour-Guide Robot that Learns
KI '99 Proceedings of the 23rd Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
A path-space search algorithm for motion planning with uncertainties
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
Pose and Motion Recovery from Feature Correspondences and a Digital Terrain Map
IEEE Transactions on Pattern Analysis and Machine Intelligence
Dealing with geometric constraints in game-theoretic planning
IJCAI'99 Proceedings of the 16th international joint conference on Artificial intelligence - Volume 2
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Failures in mobile robot navigation are often caused by errors in localizing the robot relative to its environment. This paper explores the idea that these errors can be considerably reduced by planning paths taking the robot through positions where pertinent features of the environment can be sensed. It introduces the notion of a "sensory uncertainty field" (SUF). For every possible robot configuration q, this field estimates the distribution of possible errors in the robot configuration that would be computed by a localization function matching the data given by the sensors against an environment model, if the robot was at q. A planner is proposed which uses a precomputed SUF to generate paths that minimize expected errors or any other criterion combining, say, path length and errors. This paper describes in detail the computation of a specific SUF for a mobile robot equipped with a classical line-striping camera/laser range sensor. It presents an implemented SUF-based motion planner for this robot and shows paths generated by this planner. Navigation experiments were conducted with mobile robots using paths generated by the SUF-based planner and other paths. The former paths were tracked with greater precision than the others. The final section of the paper discusses additional research issues related to SUF-based planning.