Opportunistic multi-sensor fusion for robust navigation in smart environments

Enrique Martí; Jesús García; José M. Molina

doi:10.1007/978-3-642-19908-0_7

Opportunistic multi-sensor fusion for robust navigation in smart environments

Enrique Martí^*
, Jesús García
, José M. Molina

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper presents the design of a navigation system for multiple autonomous robotic platforms. It performs multisensor fusion using a Monte Carlo Bayesian filter, and has been designed to maximize information acquisition. Apart from sensors equipped in the mobile platform, the system can dynamically integrate observations from friendly external sensing entities, increasing robustness and making it suitable for both indoor and outdoor operation. A multi-agent layer manages the information acquisition process, making it transparent for the core filtering solution. As a proof of concept, some preliminary results are presented over a real platform using the part of the system specialized in outdoor navigation.

Original language	English
Title of host publication	User-Centric Technologies and Applications
Subtitle of host publication	Proceedings of the CONTEXTS 2011 Workshop
Editors	Jose Molina, Jose Ramon Casar Corredera, Ana Bernardos Barbolla, Manuel Felipe Catedra Perez, Javier Ortega-Garcia
Pages	59-68
Number of pages	10
DOIs	https://doi.org/10.1007/978-3-642-19908-0_7
Publication status	Published - 2011
Externally published	Yes

Publication series

Name	Advances in Intelligent and Soft Computing
Volume	94
ISSN (Print)	1867-5662

Keywords

indoor/outdoor navigation
multi agent
particle filter
positioning
sensor fusion

Access to Document

10.1007/978-3-642-19908-0_7

Cite this

Martí, E., García, J., & Molina, J. M. (2011). Opportunistic multi-sensor fusion for robust navigation in smart environments. In J. Molina, J. R. C. Corredera, A. B. Barbolla, M. F. C. Perez, & J. Ortega-Garcia (Eds.), User-Centric Technologies and Applications: Proceedings of the CONTEXTS 2011 Workshop (pp. 59-68). (Advances in Intelligent and Soft Computing; Vol. 94). https://doi.org/10.1007/978-3-642-19908-0_7

Martí, Enrique ; García, Jesús ; Molina, José M. / Opportunistic multi-sensor fusion for robust navigation in smart environments. User-Centric Technologies and Applications: Proceedings of the CONTEXTS 2011 Workshop. editor / Jose Molina ; Jose Ramon Casar Corredera ; Ana Bernardos Barbolla ; Manuel Felipe Catedra Perez ; Javier Ortega-Garcia. 2011. pp. 59-68 (Advances in Intelligent and Soft Computing).

@inproceedings{c233bd159bee4eacad4a08bc52e3417a,

title = "Opportunistic multi-sensor fusion for robust navigation in smart environments",

abstract = "This paper presents the design of a navigation system for multiple autonomous robotic platforms. It performs multisensor fusion using a Monte Carlo Bayesian filter, and has been designed to maximize information acquisition. Apart from sensors equipped in the mobile platform, the system can dynamically integrate observations from friendly external sensing entities, increasing robustness and making it suitable for both indoor and outdoor operation. A multi-agent layer manages the information acquisition process, making it transparent for the core filtering solution. As a proof of concept, some preliminary results are presented over a real platform using the part of the system specialized in outdoor navigation.",

keywords = "indoor/outdoor navigation, multi agent, particle filter, positioning, sensor fusion",

author = "Enrique Mart{\'i} and Jes{\'u}s Garc{\'i}a and Molina, \{Jos{\'e} M.\}",

year = "2011",

doi = "10.1007/978-3-642-19908-0\_7",

language = "English",

isbn = "9783642199073",

series = "Advances in Intelligent and Soft Computing",

pages = "59--68",

editor = "Jose Molina and Corredera, \{Jose Ramon Casar\} and Barbolla, \{Ana Bernardos\} and Perez, \{Manuel Felipe Catedra\} and Javier Ortega-Garcia",

booktitle = "User-Centric Technologies and Applications",

}

Martí, E, García, J & Molina, JM 2011, Opportunistic multi-sensor fusion for robust navigation in smart environments. in J Molina, JRC Corredera, AB Barbolla, MFC Perez & J Ortega-Garcia (eds), User-Centric Technologies and Applications: Proceedings of the CONTEXTS 2011 Workshop. Advances in Intelligent and Soft Computing, vol. 94, pp. 59-68. https://doi.org/10.1007/978-3-642-19908-0_7

Opportunistic multi-sensor fusion for robust navigation in smart environments. / Martí, Enrique; García, Jesús; Molina, José M.
User-Centric Technologies and Applications: Proceedings of the CONTEXTS 2011 Workshop. ed. / Jose Molina; Jose Ramon Casar Corredera; Ana Bernardos Barbolla; Manuel Felipe Catedra Perez; Javier Ortega-Garcia. 2011. p. 59-68 (Advances in Intelligent and Soft Computing; Vol. 94).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Opportunistic multi-sensor fusion for robust navigation in smart environments

AU - Martí, Enrique

AU - García, Jesús

AU - Molina, José M.

PY - 2011

Y1 - 2011

N2 - This paper presents the design of a navigation system for multiple autonomous robotic platforms. It performs multisensor fusion using a Monte Carlo Bayesian filter, and has been designed to maximize information acquisition. Apart from sensors equipped in the mobile platform, the system can dynamically integrate observations from friendly external sensing entities, increasing robustness and making it suitable for both indoor and outdoor operation. A multi-agent layer manages the information acquisition process, making it transparent for the core filtering solution. As a proof of concept, some preliminary results are presented over a real platform using the part of the system specialized in outdoor navigation.

AB - This paper presents the design of a navigation system for multiple autonomous robotic platforms. It performs multisensor fusion using a Monte Carlo Bayesian filter, and has been designed to maximize information acquisition. Apart from sensors equipped in the mobile platform, the system can dynamically integrate observations from friendly external sensing entities, increasing robustness and making it suitable for both indoor and outdoor operation. A multi-agent layer manages the information acquisition process, making it transparent for the core filtering solution. As a proof of concept, some preliminary results are presented over a real platform using the part of the system specialized in outdoor navigation.

KW - indoor/outdoor navigation

KW - multi agent

KW - particle filter

KW - positioning

KW - sensor fusion

UR - https://www.scopus.com/pages/publications/80053018633

U2 - 10.1007/978-3-642-19908-0_7

DO - 10.1007/978-3-642-19908-0_7

M3 - Conference contribution

AN - SCOPUS:80053018633

SN - 9783642199073

T3 - Advances in Intelligent and Soft Computing

SP - 59

EP - 68

BT - User-Centric Technologies and Applications

A2 - Molina, Jose

A2 - Corredera, Jose Ramon Casar

A2 - Barbolla, Ana Bernardos

A2 - Perez, Manuel Felipe Catedra

A2 - Ortega-Garcia, Javier

ER -

Martí E, García J, Molina JM. Opportunistic multi-sensor fusion for robust navigation in smart environments. In Molina J, Corredera JRC, Barbolla AB, Perez MFC, Ortega-Garcia J, editors, User-Centric Technologies and Applications: Proceedings of the CONTEXTS 2011 Workshop. 2011. p. 59-68. (Advances in Intelligent and Soft Computing). doi: 10.1007/978-3-642-19908-0_7

Opportunistic multi-sensor fusion for robust navigation in smart environments

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