Localization with Dynamic Obstacles

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The robots should operate in real environments where the uncertainty is a huge problem. Moreover dynamic obstacles, can give a false perspective of the environment to the robot that it may lead to unexpected results. We provided a way of getting the robot localized, using particle filter and a "move to localize" technique that decreases the uncertainty.

Participants

Alberto Quattrini Li, Marios Xanthidis, Jason O'Kane, and Ioannis Rekleitis.

References:

[C66] Alberto Quattrini Li, Marios Xanthidis, Jason O'Kane, Ioannis Rekleitis. Active Localization with Dynamic Obstacles. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.