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Experimental Validation of a Localization System Based on a Heterogeneous Sensor Network
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-1835-2963
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2009 (English)In: ASCC: 2009 7TH ASIAN CONTROL CONFERENCE, NEW YORK: IEEE , 2009, p. 465-470Conference paper, Published paper (Refereed)
Abstract [en]

The experimental implementation and validation of a localization system based on a heterogeneous sensor network is described. The sensor network consists of ultrasound ranging sensors and web cameras. They are used to localize a mobile robot under sensor communication constraints. Applying a recently proposed sensor fusion algorithm that explicitly takes communication delay and cost into account, it is shown that one can accurately trade off the estimation performance by using low-quality ultrasound sensors with low processing time and low communication cost versus the use of the high-quality cameras with longer processing time and higher communication cost. It is shown that a periodic schedule of the sensors is suitable in many cases. The experimental setup is discussed in detail and experimental results are presented.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2009. p. 465-470
National Category
Computer Engineering
Identifiers
URN: urn:nbn:se:kth:diva-26518ISI: 000274323100081Scopus ID: 2-s2.0-71449118129ISBN: 978-1-4244-5440-2 (print)OAI: oai:DiVA.org:kth-26518DiVA, id: diva2:387455
Conference
7th Asian Control Conference (ASCC 2009) Hong Kong, PEOPLES R CHINA, AUG 27-29, 2009
Note
QC 20110114Available from: 2011-01-14 Created: 2010-11-25 Last updated: 2022-06-25Bibliographically approved

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Type fulltextMimetype application/pdf

Scopus

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Sandberg, HenrikJohansson, Karl Henrik

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Araujo, JoseSandberg, HenrikJohansson, Karl Henrik
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CiteExportLink to record
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Citation style
  • apa
  • ieee
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More styles
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  • de-DE
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More languages
Output format
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