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Toward task oriented localization
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
2000 (English)Conference paper (Refereed)
Abstract [en]

In the course of building a fully autonomous robot platform it is important to look at the computational resources spent by the indi- vidual modules. Each of them cannot be greedy, or the overall demand for computational power will be beyond what can be handled on-board. Maintaining an estimate of the pose of a mobile robot is a typical exam- ple where we might not always need to run the algorithm at the highest possible rate. This paper deals with the problem of determining how much e ort is needed in order to accomplish the localization part of a task. The approach we have taken to the problem is to optimize a cost function that accounts for the cost of sensing and the growth of the uncertainty.

Place, publisher, year, edition, pages
2000. 612-619 p.
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-52971OAI: diva2:468290
6th Int. Conf. on Intelligent Autonomous Systems (IAS-6),
NR 20140805Available from: 2011-12-20 Created: 2011-12-20Bibliographically approved

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