Rhythm-based adaptive localization in incomplete RFID landmark environments

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper proposes a novel hybrid-structured model for the adaptive localization of robots combining a stochastic localization model and a rhythmic action model, for avoiding vacant spaces of landmarks efficiently. In regularly arranged landmark environments, robots may not be able to detect any landmarks for a long time during a straight-like movement. Consequently, locally diverse and smooth movement patterns need to be generated to keep the position estimation stable. Conventional approaches aiming at the probabilistic optimization cannot rapidly generate the detailed movement pattern due to a huge computational cost; therefore a simple but diverse movement structure needs to be introduced as an alternative option. We solve this problem by combining a particle filter as the stochastic localization module and the dynamical action model generating a zig-zagging motion. The validation experiments, where virtual-line-tracing tasks are exhibited on a floor-installed RFID environment, show that introducing the proposed rhythm pattern can improve a minimum error boundary and a velocity performance for arbitrary tolerance errors can be improved by the rhythm amplitude adaptation fed back by the localization deviation.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages2108-2114
    Number of pages7
    DOIs
    Publication statusPublished - 2012

    Fingerprint

    Radio frequency identification (RFID)
    Robots
    Stochastic models
    Costs
    Experiments

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Kodaka, K., Ogata, T., & Sugano, S. (2012). Rhythm-based adaptive localization in incomplete RFID landmark environments. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2108-2114). [6224919] https://doi.org/10.1109/ICRA.2012.6224919

    Rhythm-based adaptive localization in incomplete RFID landmark environments. / Kodaka, Kenri; Ogata, Tetsuya; Sugano, Shigeki.

    Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 2108-2114 6224919.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Kodaka, K, Ogata, T & Sugano, S 2012, Rhythm-based adaptive localization in incomplete RFID landmark environments. in Proceedings - IEEE International Conference on Robotics and Automation., 6224919, pp. 2108-2114. https://doi.org/10.1109/ICRA.2012.6224919
    Kodaka K, Ogata T, Sugano S. Rhythm-based adaptive localization in incomplete RFID landmark environments. In Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 2108-2114. 6224919 https://doi.org/10.1109/ICRA.2012.6224919
    Kodaka, Kenri ; Ogata, Tetsuya ; Sugano, Shigeki. / Rhythm-based adaptive localization in incomplete RFID landmark environments. Proceedings - IEEE International Conference on Robotics and Automation. 2012. pp. 2108-2114
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