{"title":"管网中的拓扑机器人定位","authors":"R. Worley, S. Anderson","doi":"10.31256/zw1wq5m","DOIUrl":null,"url":null,"abstract":"Topological localization is advantageous for robots with limited sensing ability in pipe networks, where localization is made difficult if a robot incorrectly executes an action and arrives at an unknown junction. Novel incorporation of measurement of distance travelled is used in a Hidden Markov Model based localization method, which is shown to improve accuracy.","PeriodicalId":393014,"journal":{"name":"UKRAS20 Conference: \"Robots into the real world\" Proceedings","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Topological Robot Localization in a Pipe Network\",\"authors\":\"R. Worley, S. Anderson\",\"doi\":\"10.31256/zw1wq5m\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Topological localization is advantageous for robots with limited sensing ability in pipe networks, where localization is made difficult if a robot incorrectly executes an action and arrives at an unknown junction. Novel incorporation of measurement of distance travelled is used in a Hidden Markov Model based localization method, which is shown to improve accuracy.\",\"PeriodicalId\":393014,\"journal\":{\"name\":\"UKRAS20 Conference: \\\"Robots into the real world\\\" Proceedings\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-05-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"UKRAS20 Conference: \\\"Robots into the real world\\\" Proceedings\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.31256/zw1wq5m\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"UKRAS20 Conference: \"Robots into the real world\" Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.31256/zw1wq5m","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Topological localization is advantageous for robots with limited sensing ability in pipe networks, where localization is made difficult if a robot incorrectly executes an action and arrives at an unknown junction. Novel incorporation of measurement of distance travelled is used in a Hidden Markov Model based localization method, which is shown to improve accuracy.
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