Using Temporal Consistency to Improve Robot Localisation

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Title Using Temporal Consistency to Improve Robot Localisation
Author Billington, David; Estivill-Castro, Vladimir; Hexel, Rene; Rock, Andrew
Publication Title RoboCup 2006: Robot Soccer World Cup X
Editor Gerhard Lakemeyer, Elizabeth Sklar, Domenico G. Sorrenti, Tomoichi Takahashi
Year Published 2007
Place of publication Berlin, Germany
Publisher Springer-Verlag
Abstract Symbolic reasoning has rarely been applied to filter sensor information; and for data fusion, probabilistic models are favoured over reasoning with logic models. However, we show that in the fast dynamic environment of robotic soccer, Plausible Logic can be used effectively to deploy non-monotonic reasoning. We show this is also possible within the frame rate of vision in the (not so powerful) hardware of the AIBO ERS-7 used in the legged league. The non-monotonic reasoning with Plausible Logic not only has algorithmic completion guarantees but we show that it effectively filters the visual input for improved robot localisation. Moreover, we show that reasoning using Plausible Logic is not restricted to the traditional value domain of discerning about objects in one frame. We present a model to draw conclusions over consecutive frames and illustrate that adding temporal rules can further enhance the reliability of localisation.
Peer Reviewed Yes
Published Yes
Publisher URI
ISBN 9783540740230
Conference name The 10th RoboCup International Symposium
Location Bremen, Germany
Date From 2006-06-19
Date To 2006-06-20
Date Accessioned 2007-09-20
Language en_AU
Research Centre Institute for Integrated and Intelligent Systems
Faculty Faculty of Science, Environment, Engineering and Technology
Subject Intelligent Robotics
Publication Type Conference Publications (Full Written Paper - Refereed)
Publication Type Code e1

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