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Motion-based identification of multiple mobile robots using trajectory analysis in a well-configured environment with distributed vision sensors

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  • Robotics and Automation
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Abstract

Networked mobile robots are able to determine their poses (i.e., position and orientation) with the help of a well-configured environment with distributed sensors. Before localizing the mobile robots using distributed sensors, the environment has to have information on each of the robots’ prior knowledge. Consequently, if the environment does not have information on the prior knowledge of a certain mobile robot then it will not determine its current pose. To solve this restriction, as a preprocessing step for indoor localization, we propose a motion-based identification of multiple mobile robots using trajectory analysis. The proposed system identifies the robots by establishing the relation between their identities and their positions, which are estimated from their trajectories related to each of the paths generated as designated signs. The primary feature of the proposed system is the fact that networked mobile robots are quickly and simultaneously able to determine their poses in well-configured environments. Experimental results show that our proposed system simultaneously identifies multiple mobile robots, and approximately estimates each of their poses as an initial state for autonomous localization.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering in Korea University, 1-5 Ka, Anamdong, Seongbuk-gu, Seoul, Korea

    Joo-Hyung Kim & Jeong-Eom Lee

  2. College of Information Science and Engineering in Ritsumeikan University, Kusatsu-si, Shiga, Japan

    Joo-Ho Lee

  3. Department of Electrical Engineering in Korea University, Anam-dong, Seongbuk-gu, Seoul, Korea

    Gwi-Tae Park

Authors
  1. Joo-Hyung Kim
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  2. Jeong-Eom Lee
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  4. Gwi-Tae Park
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Corresponding author

Correspondence to Gwi-Tae Park.

Additional information

Recommended by Editorial Board member Sooyeong Yi under the direction of Editor Hyouk Ryeol Choi.

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (2009-0075798).

Joo-Hyung Kim received his B.S. degree in computer science from Korea University, Korea in 2006, and his M.S. degree in electrical engineering from Korea University, Korea in 2008. He is now a Ph.D. candidate in the department of electrical engineering, Korea University. His research areas include intelligent space, multi-robot control, and robot intelligence.

Jeong-Eom Lee received his Bachelor and Ph.D. in electrical engineering from Korea University, Korea in 2004 and 2012. He is now a Post-doctoral Fellow at the Center for Computer Graphics and Virtual Reality at Ewha Womans University, Korea. His research areas include intelligent space, robot vision, and machine learning.

Joo-Ho Lee received his B.S. and M.S. degrees in electrical engineering from Korea University, Korea in 1993 and 1995 respectively and his Ph.D. degree in electrical engineering from the University of Tokyo, Japan in 1999. He was a Japanese Society for the Promotion of Science Postdoctoral Researcher at the Institute of Industrial Science, University of Tokyo in 2000, and a faculty member at Tokyo University of Science in 2003. He Joined Ritsumeikan University in 2004 where he is currently a Professor in the College of Information Science and Engineering. He was Visiting Researcher in ATR and Visiting Scholar in the Robotics Institute of CMU, in 2006 and 2008, respectively. He is a member of IEEE, IEEJ, SICE and RSJ. His research areas include intelligent space, intelligent interaction, service robots, and machine vision.

Gwi-Tae Park received his B.S., M.S. and Ph.D. degrees in Electrical Engineering from Korea University in 1975, 1977 and 1981, respectively. He was a technical staff member in the Korea Nuclear Power Laboratory and an electrical engineering faculty member at Kwangwoon University, in 1975 and 1978, respectively. He joined Korea University in 1981 where he is currently a Professor in school of Electrical Engineering. He was a Visiting Professor at the University of Illinois in 1984. He is a fellow of the Korean Institute of Electrical Engineers (KIEE), Institute of Control, Robotics and Systems (ICROS), and advisor of Korea Robotic Society. He is also a member of Institute of Electrical and Electronics Engineers (IEEE), Korea Fuzzy Logic and Intelligent Systems Society (KFIS).

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Kim, JH., Lee, JE., Lee, JH. et al. Motion-based identification of multiple mobile robots using trajectory analysis in a well-configured environment with distributed vision sensors. Int. J. Control Autom. Syst. 10, 787–796 (2012). https://doi.org/10.1007/s12555-012-0415-4

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