Towards Task Oriented Localization
Patric
Jensfelt, David Austin and Henrik Christensen
Abstract
In the course of building a fully autonomous robot
platform it is important to look at the computational resources spent
by the individual 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 example 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 effort 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.
BibTeX Entry:
@InProceedings{Jensfelt00c,
author = {Patric Jensfelt and David Austin and Henrik I. Christensen},
title = {Toward Task Oriented Localization},
booktitle = {The 6th Int. Conf. on Intelligent Autonomous Systems (IAS-6)},
year = 2000,
month = {July}
}
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