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

^*Autor correspondiente de este trabajo

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

1 Cita (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	User-Centric Technologies and Applications
Subtítulo de la publicación alojada	Proceedings of the CONTEXTS 2011 Workshop
Editores	Jose Molina, Jose Ramon Casar Corredera, Ana Bernardos Barbolla, Manuel Felipe Catedra Perez, Javier Ortega-Garcia
Páginas	59-68
Número de páginas	10
DOI	https://doi.org/10.1007/978-3-642-19908-0_7
Estado	Publicada - 2011
Publicado de forma externa	Sí

Serie de la publicación

Nombre	Advances in Intelligent and Soft Computing
Volumen	94
ISSN (versión impresa)	1867-5662

Acceder al documento

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

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

Martí, E., García, J., & Molina, J. M. (2011). Opportunistic multi-sensor fusion for robust navigation in smart environments. En 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. En 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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. En Molina J, Corredera JRC, Barbolla AB, Perez MFC, Ortega-Garcia J, editores, 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

Resumen

Serie de la publicación

Acceder al documento

Otros archivos y enlaces

Huella

Citar esto