Evaluation of Techniques for Merging Information from Distributed Robots into a Shared World Model
In the robotics domain today there are many uncertainties. Sensors fail to provide complete and reliable information of the world, a world that is dynamic with objects moving in and out of a robot’s perception. One way to mitigate these uncertainties is to share and merge information between robots....
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Blekinge Tekniska Högskola, Avdelningen för programvarusystem
2004
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ndltd-UPSALLA1-oai-DiVA.org-bth-39672018-01-12T05:14:10ZEvaluation of Techniques for Merging Information from Distributed Robots into a Shared World ModelengNilsson, JörgenHenricsson, FredrikBlekinge Tekniska Högskola, Avdelningen för programvarusystemBlekinge Tekniska Högskola, Avdelningen för programvarusystem2004RobotsInformation sharingInformation mergingRoboCupSoftware EngineeringProgramvaruteknikIn the robotics domain today there are many uncertainties. Sensors fail to provide complete and reliable information of the world, a world that is dynamic with objects moving in and out of a robot’s perception. One way to mitigate these uncertainties is to share and merge information between robots. However, information sharing itself brings uncertainties and questions that must be addressed. What information is useful to share? How reliable is it? How often should it be shared? How should this information be integrated with the information already present at the receiver? This thesis is intended to deal with the merging of shared information from several distributed robots; information that is mainly useful for determining the real world positions of objects. We have identified some techniques for merging shared information and tested these in various different situations in an effort to determine the most appropriate one. Our tests show that sharing information can be very beneficial when objects are occluded from the view of one or more robots. The tests also show that information sharing is useful for decreasing object position uncertainty. Student thesisinfo:eu-repo/semantics/bachelorThesistexthttp://urn.kb.se/resolve?urn=urn:nbn:se:bth-3967Local oai:bth.se:arkivexB18BF2D6FBA38ACDC1256F08004F6E6Dapplication/pdfinfo:eu-repo/semantics/openAccess |
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Robots Information sharing Information merging RoboCup Software Engineering Programvaruteknik |
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Robots Information sharing Information merging RoboCup Software Engineering Programvaruteknik Nilsson, Jörgen Henricsson, Fredrik Evaluation of Techniques for Merging Information from Distributed Robots into a Shared World Model |
description |
In the robotics domain today there are many uncertainties. Sensors fail to provide complete and reliable information of the world, a world that is dynamic with objects moving in and out of a robot’s perception. One way to mitigate these uncertainties is to share and merge information between robots. However, information sharing itself brings uncertainties and questions that must be addressed. What information is useful to share? How reliable is it? How often should it be shared? How should this information be integrated with the information already present at the receiver? This thesis is intended to deal with the merging of shared information from several distributed robots; information that is mainly useful for determining the real world positions of objects. We have identified some techniques for merging shared information and tested these in various different situations in an effort to determine the most appropriate one. Our tests show that sharing information can be very beneficial when objects are occluded from the view of one or more robots. The tests also show that information sharing is useful for decreasing object position uncertainty. |
author |
Nilsson, Jörgen Henricsson, Fredrik |
author_facet |
Nilsson, Jörgen Henricsson, Fredrik |
author_sort |
Nilsson, Jörgen |
title |
Evaluation of Techniques for Merging Information from Distributed Robots into a Shared World Model |
title_short |
Evaluation of Techniques for Merging Information from Distributed Robots into a Shared World Model |
title_full |
Evaluation of Techniques for Merging Information from Distributed Robots into a Shared World Model |
title_fullStr |
Evaluation of Techniques for Merging Information from Distributed Robots into a Shared World Model |
title_full_unstemmed |
Evaluation of Techniques for Merging Information from Distributed Robots into a Shared World Model |
title_sort |
evaluation of techniques for merging information from distributed robots into a shared world model |
publisher |
Blekinge Tekniska Högskola, Avdelningen för programvarusystem |
publishDate |
2004 |
url |
http://urn.kb.se/resolve?urn=urn:nbn:se:bth-3967 |
work_keys_str_mv |
AT nilssonjorgen evaluationoftechniquesformerginginformationfromdistributedrobotsintoasharedworldmodel AT henricssonfredrik evaluationoftechniquesformerginginformationfromdistributedrobotsintoasharedworldmodel |
_version_ |
1718606870817538048 |