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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