Constructing dependable certainty grids from unreliable sensor data
نویسندگان
چکیده
منابع مشابه
Constructing dependable certainty grids from unreliable sensor data
Measurements from sensors as they are used for robotic grid map applications typically show behavior like degradation or discalibration over time, which affects the quality of the generated maps. This paper presents two novel algorithms for the generation of certainty grids dealing with this behavior. The first algorithm named Fault-Tolerant Certainty Grid (FTCG) performs voting over multiple s...
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We consider an unreliable wireless sensor gridnetwork with n nodes placed in a square of unit area. We are interested in the coverage of the region and the connectivity of the network. We first show that the necessary and sufficient conditions for the random grid network to cover the unit square region as well as ensure that the active nodes are connected are of the form p(n)r(n) ∼ log(n) n , w...
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incomplete sensor knowledge called certainty grids was used successfully in several recent mobile robot control programs developed at the Carnegie-Mellon University Mobile Robot Laboratory (MRL) Certainty grids have proven to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems MRL had good early success with ...
متن کاملCorrection to “Unreliable Sensor Grids: Coverage, Connectivity and Diameter”
As pointed by S. Kumar et. al. in [1], the necessary conditions described in (2) and (3) in [2] are incorrect. A correct necessary condition was in fact given by us in (7) in the proof of Proposition 2.1 in [2]. In this note, we discuss the implications of this necessary condition on the rest of the results in [2]. First, we restate Proposition 2.1 of [2] with the appropriate corrections. Propo...
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To date, grids (a form of distributed system) have been used to aggregate resources for performance-starved applications typically resulting from scientific enquiry. Grids should not just be facilitating advances in science and engineering; rather they should also be making an impact on our daily lives by enabling sophisticated applications such as new consumer services and support for homeland...
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ژورنال
عنوان ژورنال: Robotics and Autonomous Systems
سال: 2008
ISSN: 0921-8890
DOI: 10.1016/j.robot.2008.01.001