{"title":"地面机器人自主源定位的实践验证","authors":"Marcus Dorau, M. Alpen, J. Horn","doi":"10.1109/IRC55401.2022.00048","DOIUrl":null,"url":null,"abstract":"A source localization experiment with a group of ground robots is presented in this paper. The process implemented on the robots is shown together with its building blocks which include methods from robotics and control. The results of the experiments show that the source localization is successful in the presented environment. The workings of the process are explained and an implication about the performance in dependence on the number of robots used is given. A way to use measurements from the mapping phase for source localization is presented which speeds up the localization process and the effect of the tuning parameters is investigated.","PeriodicalId":282759,"journal":{"name":"2022 Sixth IEEE International Conference on Robotic Computing (IRC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Practical Validation of Autonomous Source Localization with Ground Robots\",\"authors\":\"Marcus Dorau, M. Alpen, J. Horn\",\"doi\":\"10.1109/IRC55401.2022.00048\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A source localization experiment with a group of ground robots is presented in this paper. The process implemented on the robots is shown together with its building blocks which include methods from robotics and control. The results of the experiments show that the source localization is successful in the presented environment. The workings of the process are explained and an implication about the performance in dependence on the number of robots used is given. A way to use measurements from the mapping phase for source localization is presented which speeds up the localization process and the effect of the tuning parameters is investigated.\",\"PeriodicalId\":282759,\"journal\":{\"name\":\"2022 Sixth IEEE International Conference on Robotic Computing (IRC)\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 Sixth IEEE International Conference on Robotic Computing (IRC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IRC55401.2022.00048\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 Sixth IEEE International Conference on Robotic Computing (IRC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IRC55401.2022.00048","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Practical Validation of Autonomous Source Localization with Ground Robots
A source localization experiment with a group of ground robots is presented in this paper. The process implemented on the robots is shown together with its building blocks which include methods from robotics and control. The results of the experiments show that the source localization is successful in the presented environment. The workings of the process are explained and an implication about the performance in dependence on the number of robots used is given. A way to use measurements from the mapping phase for source localization is presented which speeds up the localization process and the effect of the tuning parameters is investigated.
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