Unified fusion system based on bayesian networks for autonomous mobile robots

A multisensor fusion system that is usedfor estimating the location of a robot and the state of the objects around is presented. The whole fusion system has been implemented as a Dynamic Bayesian Networks (DBN) with the purpose of having a homogenous and formalized way of capturing the dependencies...

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Detalles Bibliográficos
Autores: Besada Portas, Eva, López Orozco, José Antonio, Cruz García, Jesús Manuel de la
Tipo de recurso: capítulo de libro
Fecha de publicación:2002
País:España
Institución:Universidad Complutense de Madrid (UCM)
Repositorio:Docta Complutense
Idioma:inglés
OAI Identifier:oai:docta.ucm.es:20.500.14352/60732
Acceso en línea:https://hdl.handle.net/20.500.14352/60732
Access Level:acceso abierto
Palabra clave:004
Multisensor Fusion System
Bayesian Networks
Autonomous Mobile Robots
Informática (Informática)
1203.17 Informática
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oai_identifier_str oai:docta.ucm.es:20.500.14352/60732
network_acronym_str ES
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repository_id_str
spelling Unified fusion system based on bayesian networks for autonomous mobile robotsBesada Portas, EvaLópez Orozco, José AntonioCruz García, Jesús Manuel de la004Multisensor Fusion SystemBayesian NetworksAutonomous Mobile RobotsInformática (Informática)1203.17 InformáticaA multisensor fusion system that is usedfor estimating the location of a robot and the state of the objects around is presented. The whole fusion system has been implemented as a Dynamic Bayesian Networks (DBN) with the purpose of having a homogenous and formalized way of capturing the dependencies that exist between the robot location, the state of the environment, and all the sensorial data. At this stage of the research it consists of two independent DBNs, one for estimating the robot location and another for building an occupancy probabilistic map of the environment, which are the basis of a unified fusion system. The dependencies of the variables and information in the two DBN will be captured by a unique DBN constructed by adding arcs (and nodes if necessary) between the two DBN. The DBN implemented so far can be used in robots with different sets of sensors.Int Soc Information FusionUniversidad Complutense de Madrid20022002-12-3120022002-12-31book parthttp://purl.org/coar/resource_type/c_3248info:eu-repo/semantics/bookPartapplication/pdfhttps://hdl.handle.net/20.500.14352/60732reponame:Docta Complutenseinstname:Universidad Complutense de Madrid (UCM)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:docta.ucm.es:20.500.14352/607322026-06-02T12:44:21Z
dc.title.none.fl_str_mv Unified fusion system based on bayesian networks for autonomous mobile robots
title Unified fusion system based on bayesian networks for autonomous mobile robots
spellingShingle Unified fusion system based on bayesian networks for autonomous mobile robots
Besada Portas, Eva
004
Multisensor Fusion System
Bayesian Networks
Autonomous Mobile Robots
Informática (Informática)
1203.17 Informática
title_short Unified fusion system based on bayesian networks for autonomous mobile robots
title_full Unified fusion system based on bayesian networks for autonomous mobile robots
title_fullStr Unified fusion system based on bayesian networks for autonomous mobile robots
title_full_unstemmed Unified fusion system based on bayesian networks for autonomous mobile robots
title_sort Unified fusion system based on bayesian networks for autonomous mobile robots
dc.creator.none.fl_str_mv Besada Portas, Eva
López Orozco, José Antonio
Cruz García, Jesús Manuel de la
author Besada Portas, Eva
author_facet Besada Portas, Eva
López Orozco, José Antonio
Cruz García, Jesús Manuel de la
author_role author
author2 López Orozco, José Antonio
Cruz García, Jesús Manuel de la
author2_role author
author
dc.contributor.none.fl_str_mv Universidad Complutense de Madrid
dc.subject.none.fl_str_mv 004
Multisensor Fusion System
Bayesian Networks
Autonomous Mobile Robots
Informática (Informática)
1203.17 Informática
topic 004
Multisensor Fusion System
Bayesian Networks
Autonomous Mobile Robots
Informática (Informática)
1203.17 Informática
description A multisensor fusion system that is usedfor estimating the location of a robot and the state of the objects around is presented. The whole fusion system has been implemented as a Dynamic Bayesian Networks (DBN) with the purpose of having a homogenous and formalized way of capturing the dependencies that exist between the robot location, the state of the environment, and all the sensorial data. At this stage of the research it consists of two independent DBNs, one for estimating the robot location and another for building an occupancy probabilistic map of the environment, which are the basis of a unified fusion system. The dependencies of the variables and information in the two DBN will be captured by a unique DBN constructed by adding arcs (and nodes if necessary) between the two DBN. The DBN implemented so far can be used in robots with different sets of sensors.
publishDate 2002
dc.date.none.fl_str_mv 2002
2002-12-31
2002
2002-12-31
dc.type.none.fl_str_mv book part
http://purl.org/coar/resource_type/c_3248
dc.type.openaire.fl_str_mv info:eu-repo/semantics/bookPart
format bookPart
dc.identifier.none.fl_str_mv https://hdl.handle.net/20.500.14352/60732
url https://hdl.handle.net/20.500.14352/60732
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Int Soc Information Fusion
publisher.none.fl_str_mv Int Soc Information Fusion
dc.source.none.fl_str_mv reponame:Docta Complutense
instname:Universidad Complutense de Madrid (UCM)
instname_str Universidad Complutense de Madrid (UCM)
reponame_str Docta Complutense
collection Docta Complutense
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.300719

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