Multi-level state estimation in an outdoor decentralised sensor network

Upcroft, B., Ridley, M., Ong, L. L., Douillard, B., Kaupp, T., Kumar, S., Bailey, T., Ramos, F., Makarenko, A., Brooks, A., Sukkarieh, S. and Durrant-Whyte, H. F. (2008). Multi-level state estimation in an outdoor decentralised sensor network. In: Oussama Khatib, Vijay Kumar and Daniela Rus, Springer Tracts in Advanced Robotics. Experimental Robotics: The 10th International Symposium on Experimental Robotics. ISER '06: 10th International Symposium on Experimental Robotics 2006, Rio de Janeiro, Brazil, (355-365). 6-10 July, 2006. doi:10.1007/978-3-540-77457-0_33


Author Upcroft, B.
Ridley, M.
Ong, L. L.
Douillard, B.
Kaupp, T.
Kumar, S.
Bailey, T.
Ramos, F.
Makarenko, A.
Brooks, A.
Sukkarieh, S.
Durrant-Whyte, H. F.
Title of paper Multi-level state estimation in an outdoor decentralised sensor network
Conference name ISER '06: 10th International Symposium on Experimental Robotics 2006
Conference location Rio de Janeiro, Brazil
Conference dates 6-10 July, 2006
Proceedings title Springer Tracts in Advanced Robotics. Experimental Robotics: The 10th International Symposium on Experimental Robotics
Place of Publication Berlin, Germany
Publisher Springer-Verlag
Publication Year 2008
Sub-type Fully published paper
DOI 10.1007/978-3-540-77457-0_33
Open Access Status
ISBN 9783540774563
3540774564
9783540774570
3540774572
ISSN 1610-7438
1610-742X
Editor Oussama Khatib
Vijay Kumar
Daniela Rus
Volume 39
Start page 355
End page 365
Total pages 11
Language eng
Formatted Abstract/Summary
Decentralised estimation of heterogeneous sensors is performed on an outdoor network. Attributes such as position, appearance, and identity represented by non-Gaussian distributions are used in in the fusion process. It is shown here that real-time decentralised data fusion of non-Gaussian estimates can be used to build rich environmental maps. Human operators are also used as additional sensors in the network to complement robotic information.
Subjects 0801 Artificial Intelligence and Image Processing
0910 Manufacturing Engineering
0913 Mechanical Engineering
Keyword Decentralised sensor network
Robotics
Non-Gaussian distributions
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status Non-UQ
Additional Notes Presented during Session 9 "Estimation and Localization" as "Paper no. 118". Published under "Estimation and Localization".

 
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Created: Mon, 18 Jan 2010, 16:40:23 EST by Tara Johnson on behalf of Faculty Of Engineering, Architecture & Info Tech